CN107274672B - Signal intersection single vehicle delay time estimation method based on GPS data - Google Patents

Signal intersection single vehicle delay time estimation method based on GPS data Download PDF

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CN107274672B
CN107274672B CN201710654090.XA CN201710654090A CN107274672B CN 107274672 B CN107274672 B CN 107274672B CN 201710654090 A CN201710654090 A CN 201710654090A CN 107274672 B CN107274672 B CN 107274672B
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孙棣华
赵敏
郑林江
周桐
杨陈成
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Liyang Smart City Research Institute Of Chongqing University
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Abstract

The invention discloses a GPS data-based signalized intersection single vehicle delay time estimation method, which comprises the steps of firstly, acquiring the head time distance of queued vehicles in a selected driving direction at a stop line, the signal timing parameters of signal lamps and vehicle GPS data at a signalized intersection; when the instantaneous speed of the vehicle is 0, calculating the distance between the vehicle and the stop line of the intersection according to the current position information of the vehicle, and calculating and obtaining the queuing position of the vehicle; and calculating the delay time of the single vehicle at the intersection. The invention utilizes the GPS data of the vehicle to realize the estimation of the delay time of the vehicle passing through the intersection. The delay time refers to how long the vehicle needs to delay from the time of queuing for initial parking to the time of leaving the stop line if the vehicle is influenced by the red signal light and waits in queue in front of the stop line after entering the signalized intersection; the estimation of the delay time of a single vehicle at the intersection is realized.

Description

Signal intersection single vehicle delay time estimation method based on GPS data
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method for estimating the delay time of a single vehicle at a signal intersection based on GPS data.
Background
The delay time of the vehicle passing through the signalized intersection is an important evaluation index of the service level and the operation efficiency of the signalized intersection, and can reflect the driving comfort of a driver, the oil consumption and the emission of vehicle driving and the lost travel time, and can also reflect the reasonability and the feasibility of the road planning construction and the design of a signal control scheme of the intersection. Therefore, the research on the delay time of the vehicle passing through the signalized intersection has important significance and value.
Due to the limitations of technical conditions, detection means and the like, most of the conventional vehicle delay time estimation methods aim at the average delay time of all vehicles within a period of time (namely, the vehicle delay). However, the vehicle-to-vehicle delay describes an average delay situation of all vehicles in the time period, but for route optimization and navigation, estimation is only carried out on a target vehicle, and the route optimization and navigation based on the estimation is more pertinent and reasonable. Therefore, the method aims at a single vehicle, researches the delay time of the vehicle passing through the intersection, has important practical significance, and can provide basis for estimation of travel time, route optimization and navigation.
Therefore, in order to estimate the delay time of a single vehicle at an intersection, a new method for estimating the delay time of the single vehicle based on the GPS data is required.
Disclosure of Invention
The invention aims to provide a signal intersection single vehicle delay time estimation method based on GPS data; the method is used for estimating the signal intersection single vehicle delay time based on GPS data.
The purpose of the invention is realized by the following technical scheme:
the invention provides a GPS data-based signalized intersection single vehicle delay time estimation method, which comprises the following steps:
selecting a driving direction on a signalized intersection and acquiring the head time distance of queued vehicles in the selected driving direction at a stop line; forming the distribution characteristic of the head time intervals of the queued vehicles;
acquiring signal timing parameters of a signal lamp in the selected driving direction, wherein the signal parameters comprise signal period duration TcTime length T of red lightrTime length T of green lightg＝Tc-TrAnd the red light start time of each period;
acquiring vehicle GPS data; the vehicle GPS data comprises a current position, an instantaneous speed and a current time of the vehicle;
judging whether the instantaneous speed of the vehicle is 0 or not, if so, calculating the distance between the vehicle and a stop line at the intersection according to the current position information of the vehicle, and calculating and obtaining the queuing position of the vehicle;
and calculating the intersection single vehicle delay time according to the head time distance of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles.
Further, the calculation of the delay time of the single vehicle at the intersection is realized according to the following steps:
obtaining the m-th queuing position of the intersectionThe rear reaches the saturated headway, and the value of the saturated headway is Tb；
Obtaining the average values of the time distances between the heads of the vehicles with the queuing positions from 1 to m as Ti，i＝1,2,…,m；
If it is judged that
Figure BDA0001368769930000021
If yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line exceeds the green light time, the intersection can pass through the maximum number n of the vehicles in one signal period, and n is<m, and having:
Figure BDA0001368769930000022
is calculated to obtainThe value of time n;
if it is judged that
Figure BDA0001368769930000024
And if yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line does not exceed the green time, and n is more than or equal to m, and the method comprises the following steps:
Figure BDA0001368769930000025
is calculated to obtainThe value of time n;
acquiring vehicle GPS data after a vehicle enters an intersection, and when the vehicle GPS data shows that the speed of the vehicle is 0, taking the time corresponding to the vehicle GPS data as the time t of the initial parking queue of the vehicle0；
According to the time t0The red light start time of the signal period is obtained in the following manner
Figure BDA0001368769930000027
So that t is0Satisfies the following conditions:
Figure BDA0001368769930000028
wherein the content of the first and second substances,
Figure BDA0001368769930000029
the starting time of the red light of a certain signal period;
determining the state of a signal lamp of the intersection when the vehicle is parked and queued for the first time according to the following modes:
if it isThe signal lamp is red when the vehicle is parked for the first time and queued; if it is
Figure BDA0001368769930000032
The signal lamp is green when the vehicle is parked for the first time and queued;
judging whether the following conditions are met:
①
Figure BDA0001368769930000033
and is
Figure BDA0001368769930000034
If the vehicle is in the queue, the signal lamp is red when the vehicle is parked for the first time;
determining a travel time required from a start to a vehicle leaving a stop line in the following manner; the travel time comprises the remaining time of a red light when the vehicle is parked for the first time and queued, and the time from turning on of a green light to driving away from a stop line;
vehicle at t0When the vehicle is parked and queued for the first time, if the signal lamp is red, the remaining time T' of the red lamp is as follows:
the vehicles continue to wait in line during the whole remaining time of the red light; when the red light is finished, the green light is turned on, and the vehicles start to queue and drive away from the stop line;
if the queuing position of the vehicle does not exceed the maximum number of vehicles which can pass in one signal period, i.e. k0N, the vehicle can drive off the stop line in one signal period, and the time T' required by the vehicle from the turning-on of the green light to the driving off of the stop line is calculated according to the following modes:
if the queue position of the vehicle exceeds the maximum number of vehicles that can pass in a signal period, i.e. k0>n, the vehicle is not possible to drive out of the stop line in one signal period, and the number p of queuing times experienced by the vehicle is calculated according to the following mode:
k is obtained by calculation0>n is the value of p, wherein k0Pn represents the queuing position of the vehicle after p times of queuing;
the time T' required by the vehicle from the first green light turn-on to the last driving off the stop line is as follows:
the travel time required for the vehicle to travel from the time the initial stop was queued to the stop line is calculated according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
② are judged in the following manner
Figure BDA0001368769930000043
If it is true, n is greater than or equal to m and
Figure BDA0001368769930000044
if true, the time T' "that the green light has been on is calculated according to the following equation:
Figure BDA0001368769930000045
wherein the vehicle is at t0Queuing for the first time of parking:
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
③ is judged whether the following conditions are satisfiedI.e. n<m andnamely the signal lamp is red when the vehicle is parked for the first time and queued;
if k is0And n, calculating the time T' required by the vehicle from the turning-on of the green light to the driving away from the stop line according to the following formula:
Figure BDA0001368769930000051
if k is0>n, calculating the queuing times p of the vehicle according to the following formula, wherein the time T' required by the vehicle from the first green light on to the last driving off the stop line is as follows:
Figure BDA0001368769930000052
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
Figure BDA0001368769930000053
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
④ is judged whether the following conditions are satisfied
Figure BDA0001368769930000054
I.e. n<m andnamely the signal lamp is green when the vehicle is parked for the first time and queued;
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
Figure BDA0001368769930000056
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the method also comprises the following steps:
calculating the smooth driving time of the vehicle from the position of the initial parking queue to the parking line according to the following formula;
Tf＝L/vf(15)
wherein L is the beginning of the vehicleDistance to stop line in secondary parking line, TfAt a smooth speed v for the vehiclefFree time when the vehicle travels a distance L;
the vehicle still needs time delay from the time of queuing for the first parking to the time of leaving the parking line according to the following formula:
Td＝T-Tf(16)
wherein, TdThere is a delay time for the vehicle to exit the stop line from the time it was queued for the first stop.
Due to the adoption of the technical scheme, the invention has the following advantages:
the invention utilizes the GPS data of the vehicle to realize the estimation of the delay time of the vehicle passing through the intersection. The delay time refers to how long the vehicle needs to delay from the time of queuing for initial parking to the time of leaving the stop line if the vehicle is influenced by the red signal light and waits in queue in front of the stop line after entering the signalized intersection; the estimation of the delay time of a single vehicle at the intersection is realized.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
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The drawings of the present invention are described below.
FIG. 1 is a flow chart of a method for estimating delay time of a single vehicle at a signalized intersection based on GPS data.
Detailed Description
The invention is further illustrated by the following figures and examples.
Example 1
As shown in the figure, in the method for estimating delay time of a single vehicle at a signalized intersection based on GPS data provided in this embodiment, the delay time in this embodiment refers to how long the vehicle needs to delay from the time of queuing for initial parking to the time of leaving a stop line if the vehicle is affected by a red signal and is queued in front of the stop line after entering the signalized intersection; the estimation of the delay time of the bicycle is realized, and the embodiment is defined and described as follows:
①, the signal cycle time and the red light time of the intersection are constant;
② the GPS data is used after data preprocessing without considering the positioning error of the GPS data.
The method provided by the embodiment comprises the following four steps:
the method comprises the following steps: and selecting a certain signalized intersection, carrying out on-site investigation on the head time distance of the queued vehicles at the stop line in a certain specific driving direction of the intersection, and carrying out statistical analysis on-site investigation data to obtain the general characteristics of the head time distance distribution of the queued vehicles.
Step two: the signal period duration T of the signal light of the selected driving direction is obtained by means of existing data analysis methods or field test methodscTime length T of red lightrTime length T of green lightg＝Tc-Tr(yellow light not considered) and the exact start of red light per cycle.
Step three: the method comprises the steps that after a vehicle enters an intersection, GPS data (the GPS data comprise information of the current position, the instantaneous speed, the current time and the like of the vehicle) of the vehicle are obtained and judged in real time, once the instantaneous speed of the vehicle is 0, the vehicle is considered to stop at the intersection and queue, the distance between the vehicle and a stop line of the intersection is calculated according to the information of the current position of the vehicle, and on the basis, the queuing position of the vehicle, namely the queuing position of the vehicle is obtained by a certain data analysis method.
Step four: comprehensively considering the time headway of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles, and establishing an intersection single vehicle delay time estimation model.
Example 2
The real-time estimation method of the vehicle delay time utilizes the real-time GPS data of the vehicle to realize the real-time estimation of the delay time of a single vehicle; the following detailed description will be made:
the method comprises the following steps: and selecting a certain signalized intersection, carrying out on-site investigation on the head time distance of the queued vehicles at the stop line in a certain specific driving direction of the intersection, and carrying out statistical analysis on-site investigation data to obtain the general characteristics of the head time distance distribution of the queued vehicles.
The headway refers to the time interval of two adjacent vehicle headways running on the same lane when the headway ends pass through the same section of the road. Currently, more scholars perform corresponding analysis and research on the time headway of the vehicles queued at the signalized intersection passing through the stop line. The result shows that the queuing position of the vehicle in front of the stop line has obvious influence on the time headway of the vehicle passing through the stop line, the average time headway is gradually reduced along with the increase of the queuing position of the vehicle and finally reduced to a relatively stable value (namely, the saturated time headway), the time headway of the vehicle passing through the stop line at different queuing positions approximately obeys the lognormal distribution, only for different intersections, the time headway distribution of the queued vehicle passing through the stop line is different (the mean value and the variance are different), and the queuing position of the vehicle when the vehicle starts to run at the saturated time headway is also different. Therefore, the method selects a specific driving direction at the intersection, carries out on-site investigation on the headway of the queued vehicles at the stop line in the direction, and obtains the specific distribution parameters of the log-normal distribution of the headway of the vehicles at different queuing positions.
In addition, when the time headway of the vehicles queued at the signalized intersection passing through the stop line is subjected to statistical analysis, a core problem needs to be solved, namely the time headway is judged to be saturated when the vehicles start to reach the saturated time headway from the several queuing positions. One of the judgment criteria of the start positions of the saturated headway is that the mean value of the headway of the vehicles has no obvious difference after a certain queuing position. Therefore, the invention sequentially tests whether the mean values of the headway of the vehicles at the adjacent queuing positions have obvious difference through independent sample T test in mathematical statistics, and obtains the starting position of the saturated headway. On the basis, from the start position of the saturated headway, the average value of mathematical expectation of headway distribution at each subsequent queuing position is taken as a specific value of the saturated headway.
Step two: the signal period duration T of the signal light of the selected driving direction is obtained by means of existing data analysis methods or field test methodscTime length T of red lightrTime length T of green lightg＝Tc-Tr(yellow light not considered) and the exact start of red light per cycle.
Step three: the method comprises the steps that after a vehicle enters an intersection, GPS data (the GPS data comprise information such as the current position, the instantaneous speed and the current time of the vehicle) of the vehicle are obtained and judged in real time, once the instantaneous speed of the vehicle is 0, the vehicle is considered to stop at the intersection and queue, the distance between the vehicle and a stop line of the intersection is calculated through the information of the current position of the vehicle, and on the basis, the queuing position k of the vehicle is obtained through a certain data analysis method0I.e. it is the number of vehicles in the queue.
Step four: comprehensively considering the time headway of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles, and establishing an intersection single vehicle delay time estimation model.
The delay time can be obtained by calculating the difference between the travel time and the free-running time, and the travel time required by the vehicle from the moment of initial parking queuing to the moment of leaving the stop line is not only related to the signal lamp state and the queuing position of the vehicle in the initial parking queuing, but also related to the characteristics of the signalized intersection (including the head time distance, the signal cycle time length, the red light time length and the like of the vehicles at different queuing positions).
The intersection reaches the saturated headway after the mth queuing position, and the value of the saturated headway is TbThe average value of the headway of the vehicles with the queuing positions of 1 to m (namely the mathematical expectation of headway distribution) is Ti(i＝1,2,…,m)。
If it isThat is, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line exceeds the green time, and at the moment, the maximum passing time of the intersection in one signal periodThe number n of vehicles satisfies n<m, and having:
Figure BDA0001368769930000082
from this can be calculatedThe value of n. In the same way, if
Figure BDA0001368769930000084
That is, the time required for all vehicles with queuing positions of 1 to m to leave the stop line does not exceed the green time, at this moment, n is more than or equal to m, and the following steps are provided:
from this can be calculated
Figure BDA0001368769930000086
The value of n. On the other hand, after the vehicle enters the intersection, the GPS data of the vehicle can be acquired in real time, and once the GPS data shows that the speed of the vehicle is 0, the time corresponding to the GPS data is taken as the time t when the vehicle is parked for the first time and queued0. According to t0Can find such a
Figure BDA0001368769930000087
So that t is0Satisfies the following conditions:
Figure BDA0001368769930000088
wherein the content of the first and second substances,
Figure BDA0001368769930000091
is the red light start time of a certain signal period. When the vehicle is parked for the first time and queued, the state of the signal lamp at the intersection has two possible situations: red or green lights. If it is
Figure BDA0001368769930000092
The signal lamp is red when the vehicle is parked for the first time and queued; if it is
Figure BDA0001368769930000093
The signal light is green when the vehicle is in queue for the first time.
Through the analysis, the estimation problem of the travel time required by the vehicle from the time of the initial parking queue to the time of leaving the parking line is divided into the following four situations to be discussed according to the maximum number n of vehicles which can pass through in one signal period and the state of the signal lamp when the vehicle is parked and queued for the first time:
①
Figure BDA0001368769930000094
(i.e., n.gtoreq.m) and
Figure BDA0001368769930000095
(i.e. the signal lamp is red when the vehicle is in line for the first time parking)
If the signal lamp is red when the vehicle is parked for the first time and queued, the travel time from the moment to the moment when the vehicle is driven off the stop line consists of two parts: the time remaining at the red light when the vehicle is in line for the first time of parking, and the time from the turning on of the green light to the driving away from the parking line.
Vehicle at t0And (3) queuing for parking for the first time, if the signal lamp is red at the moment, the remaining time T' of the red lamp is as follows:
Figure BDA0001368769930000096
the vehicles need to continue to wait in line for the entire remaining time of the red light. Once the red light is finished, the green light is turned on, and the vehicles start to queue and drive away from the stop line.
If the queuing position of the vehicle does not exceed the maximum number of vehicles which can pass in one signal period, i.e. k0And n is less than or equal to n, the vehicle can drive off the stop line in one signal period without secondary queuing and the like. Thus, the time T "required for the vehicle to travel off the stop line from the green light on is:
Figure BDA0001368769930000097
if the queue position of the vehicle exceeds the maximum number of vehicles that can pass in a signal period, i.e. k0>n, it means that the vehicle cannot drive out of the stop line in one signal period, it will experience two, three or even more parking queues, and the number p of queues the vehicle will experience satisfies:
Figure BDA0001368769930000098
from this k can be calculated0>n is the value of p, where k0Pn represents the queuing position of the vehicle after p times of queuing. Thus, the time T "required for the vehicle to travel from the first green light on to the last departure from the stop line is:
in particular, when k0When n is not more than n, the value of p can also be calculated using equation (6), and when p is 0, i.e. the number of queues the vehicle will experience is 0, as in the previous analysis. Meanwhile, formula (5) can be obtained by bringing formula (7) into which p is 0. Therefore, it is not necessary to distinguish k when obtaining T ″0N and k are not more than0>In both cases, formula (6) and formula (7) are directly used as general formulas for finding T'.
Therefore, the travel time T required for the vehicle to travel off the stop line from the time the vehicle is queued for the first stop is:
Figure BDA0001368769930000102
②(i.e., n.gtoreq.m) and
Figure BDA0001368769930000104
(i.e. the signal lamp is green when the vehicle is in queue for the first time parking)
Vehicle at t0When the vehicle stops for the first time and queues up, if the signal lamp is green, the time T' of turning on the green lamp is as follows:
Figure BDA0001368769930000105
if the vehicle stops and queues when the green light is turned on in the period, the calculation method of the time T' required for the vehicle to leave the stop line from the turn-on time of the green light is the same as that of the ① case, namely, the calculation method can be carried out by the equation (7). however, when the vehicle is parked and queued for the first time, the green light is already turned on for a period of time, so the travel time T required for the vehicle to leave the stop line from the turn-on time of the first parking and queuing is:
Figure BDA0001368769930000106
it can be seen that formula (10) is the same as formula (8). Therefore, whenWhen n is larger than or equal to m, the travel time T required for the vehicle to leave the stop line from the time of the initial parking queue can be estimated by the expression (10) no matter whether the signal lamp is red or green when the vehicle is parked for the first time in the queue.
③
Figure BDA0001368769930000112
(i.e., n)<m) and
Figure BDA0001368769930000113
(i.e. the signal lamp is red when the vehicle is in line for the first time parking)
In this case, the travel time T required for the vehicle to leave the stop line from the time of the initial parking queuing is also composed of two parts, the remaining time T 'of the red light when the vehicle is initially parked queuing, and the time T ″ from when the vehicle is turned on from the green light to leave the stop line, wherein T' is also calculated by equation (4), and the estimation method of T ″ is similar to that in the case of ①.
If k is0And n, the time T' required by the vehicle from turning on the green light to driving off the stop line is as follows:
if k is0>n, the number p of still experienced vehicle queues still satisfies the formula (6), and the time T' required by the vehicle from the first green light turning on to the last driving off the stop line is as follows:
Figure BDA0001368769930000115
similarly, when k0When n is not more than n, p is 0 by formula (6), and formula (11) is expressed by bringing p to 0 and formula (12). Therefore, in this case, it is also possible to obtain T' without distinguishing k0N and k are not more than0>In both cases, formula (12) is directly used as a general formula for finding T'.
Therefore, the travel time T required for the vehicle to travel off the stop line from the time the vehicle is queued for the first stop is:
Figure BDA0001368769930000116
④
Figure BDA0001368769930000117
(i.e., n)<m) and
Figure BDA0001368769930000118
(i.e. the signal lamp is green when the vehicle is in queue for the first time parking)
In this case, the method of estimating the travel time T required for the vehicle to travel away from the stop line from the time when the vehicle is queued for the first stop is similar to that in the case of ②.
The time T' ″ that the green light has been turned on when the vehicle is initially parked and queued can be calculated by the equation (9), and at the same time, if the vehicle is parked and queued immediately after the green light is turned on in the cycle, the calculation method of the time T ″ required from the turn-on time of the green light to the departure of the stop line can be calculated by the equation (12) as in the case of the ③.
Figure BDA0001368769930000121
It can be seen that formula (14) is the same as formula (13). Therefore, when
Figure BDA0001368769930000122
(i.e., n)<m), the travel time T required for the vehicle to leave the stop line from the time of the initial parking queue can be estimated by the same equation (14) regardless of whether the traffic light is red or green when the vehicle is in the initial parking queue.
In addition, since the delay time is the difference between the travel time and the free time, the free time from the position at which the vehicle was queued for the first stop to the stop line is also calculated. The invention adopts the design speed of the motor vehicles at the plane intersection of the urban road as the vehicle smooth speed reference value of the intersection. If the distance between the vehicle and the stop line is L when the vehicle is in queue for the first time for parking, the vehicle is in smooth speed vfFree time T when driving distance LfComprises the following steps:
Tf＝L/vf(15)
therefore, the vehicle is delayed from the time of queuing for the first parking to the time T of leaving the parking linedComprises the following steps:
Td＝T-Tf(16)
in conclusion, the invention provides a novel method for estimating the delay time of a single vehicle at a signalized intersection based on GPS data, which can realize real-time estimation of the delay time of the single vehicle passing through the intersection.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered in the protection scope of the present invention.

Claims (5)

1. The signal intersection single vehicle delay time estimation method based on GPS data is characterized by comprising the following steps: the method comprises the following steps:
selecting a driving direction on a signalized intersection and acquiring the head time distance of queued vehicles in the selected driving direction at a stop line; forming the distribution characteristic of the head time intervals of the queued vehicles;
acquiring signal timing parameters of a signal lamp in the selected driving direction, wherein the signal parameters comprise signal period duration TcTime length T of red lightrTime length T of green lightg＝Tc-TrAnd the red light start time of each period;
acquiring vehicle GPS data; the vehicle GPS data comprises a current position, an instantaneous speed and a current time of the vehicle;
judging whether the instantaneous speed of the vehicle is 0 or not, if so, calculating the distance between the vehicle and a stop line at the intersection according to the current position information of the vehicle, and calculating and obtaining the queuing position of the vehicle;
calculating the intersection single vehicle delay time according to the time headway of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles;
the calculation of the delay time of the single vehicle at the intersection is realized according to the following steps:
acquiring the saturated headway of the intersection from the mth queuing position, wherein the value of the saturated headway is Tb；
Obtaining the average values of the time distances between the heads of the vehicles with the queuing positions from 1 to m as Ti，i＝1,2,…,m；
If it is judged thatIs true, indicating vehicles with queuing positions of 1 to mIf the time required for all vehicles to leave the stop line exceeds the green time, the intersection can pass the maximum number n of vehicles in one signal period, and n is less than m, and the method comprises the following steps:
Figure FDA0002234573660000012
is calculated to obtain
Figure FDA0002234573660000013
The value of time n;
if it is judged that
Figure FDA0002234573660000021
And if yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line does not exceed the green time, and n is more than or equal to m, and the method comprises the following steps:
is calculated to obtain
Figure FDA0002234573660000023
The value of time n;
acquiring vehicle GPS data after a vehicle enters an intersection, and when the vehicle GPS data shows that the speed of the vehicle is 0, taking the time corresponding to the vehicle GPS data as the time t of the initial parking queue of the vehicle0；
According to the time t0The red light start time of the signal period is obtained in the following manner
Figure FDA0002234573660000024
So that t is0Satisfies the following conditions:
Figure FDA0002234573660000025
wherein the content of the first and second substances,
Figure FDA0002234573660000026
the starting time of the red light of a certain signal period;
determining the state of a signal lamp of the intersection when the vehicle is parked and queued for the first time according to the following modes:
if it is
Figure FDA0002234573660000027
The signal lamp is red when the vehicle is parked for the first time and queued; if it is
Figure FDA0002234573660000028
The signal lamp is green when the vehicle is parked for the first time and queued;
judging whether the following conditions are met:
①
Figure FDA0002234573660000029
n is not less than m and
Figure FDA00022345736600000210
if the vehicle is in the queue, the signal lamp is red when the vehicle is parked for the first time;
determining a travel time required from a start to a vehicle leaving a stop line in the following manner; the travel time comprises the remaining time of a red light when the vehicle is parked for the first time and queued, and the time from turning on of a green light to driving away from a stop line;
vehicle at t0When the vehicle is parked and queued for the first time, if the signal lamp is red, the remaining time T' of the red lamp is as follows:
Figure FDA00022345736600000211
the vehicles continue to wait in line during the whole remaining time of the red light; when the red light is finished, the green light is turned on, and the vehicles start to queue and drive away from the stop line;
if the queuing position of the vehicle does not exceed the maximum number of vehicles which can pass in one signal period, i.e. k0≤n，The vehicle can drive away from the stop line in one signal period, and the time T' required by the vehicle from the turning-on of the green light to the driving away from the stop line is calculated according to the following modes:
Figure FDA0002234573660000031
if the queue position of the vehicle exceeds the maximum number of vehicles that can pass in a signal period, i.e. k0N, it means that the vehicle cannot leave the stop line in one signal period, and the number of queuing times p experienced by the vehicle is calculated as follows:
Figure FDA0002234573660000032
k is obtained by calculation0P > n, where k0Pn represents the queuing position of the vehicle after p times of queuing;
the time T' required by the vehicle from the first green light turn-on to the last driving off the stop line is as follows:
the travel time required for the vehicle to travel from the time the initial stop was queued to the stop line is calculated according to the following formula:
Figure FDA0002234573660000034
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
2. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
② are judged in the following manner
Figure FDA0002234573660000041
If it is true, n is greater than or equal to m and
Figure FDA0002234573660000042
if true, the time T' "that the green light has been on is calculated according to the following equation:
Figure FDA0002234573660000043
wherein the vehicle is at t0Queuing for the first time of parking:
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
Figure FDA0002234573660000044
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
3. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
③ is judged whether the following conditions are satisfied
Figure FDA0002234573660000045
I.e. n < m and
Figure FDA0002234573660000046
namely the signal lamp is red when the vehicle is parked for the first time and queued;
if k is0And n, calculating the time T' required by the vehicle from the turning-on of the green light to the driving away from the stop line according to the following formula:
Figure FDA0002234573660000047
if k is0If the number of times of queuing of the vehicles is more than n, the queuing times p of the vehicles are calculated according to the following formula, and the time T' required by the vehicles from the first green light turning on to the last driving off the stop line is as follows:
Figure FDA0002234573660000051
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
4. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
④ is judged whether the following conditions are satisfied
Figure FDA0002234573660000053
I.e. n < m andnamely the signal lamp is green when the vehicle is parked for the first time and queued;
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
Figure FDA0002234573660000055
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
5. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: further comprising the steps of:
calculating the smooth driving time of the vehicle from the position of the initial parking queue to the parking line according to the following formula;
Tf＝L/vf(15)
wherein L is the distance between the vehicle and the stop line when the vehicle is in the queue for the first time of parking, and T isfAt a smooth speed v for the vehiclefFree time when the vehicle travels a distance L;
the vehicle still needs time delay from the time of queuing for the first parking to the time of leaving the parking line according to the following formula:
Td＝T-Tf(16)
wherein, TdThere is a delay time for the vehicle to exit the stop line from the time it was queued for the first stop.
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