CN107680390B - Map-based traffic signal control scheme generation method - Google Patents
Map-based traffic signal control scheme generation method Download PDFInfo
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- CN107680390B CN107680390B CN201710840220.9A CN201710840220A CN107680390B CN 107680390 B CN107680390 B CN 107680390B CN 201710840220 A CN201710840220 A CN 201710840220A CN 107680390 B CN107680390 B CN 107680390B
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Abstract
The invention relates to a map-based traffic signal control scheme generation method, wherein the traffic signal control scheme generated by the method consists of at least one NEMA ring, each NEMA ring corresponds to a control phase of an entrance way group, and the method specifically comprises the following steps: 1) judging whether the current vehicle is in a network connection environment, if so, circularly checking the current time point, and executing the step 2) when the time is set before the end time point of the period, otherwise, sequentially executing the steps 2) -4) and then ending; 2) carrying out one-to-one correspondence between the inlet channel groups and the NEMA rings according to map information; 3) performing signal timing by adopting a Webster signal timing method and a collision avoidance mechanism to obtain the ring length, the semi-ring length and the phase length of each NEMA ring; 4) and generating a traffic signal control scheme and transmitting the traffic signal control scheme. Compared with the prior art, the method has the advantages of high universality, high real-time performance and the like.
Description
Technical Field
The invention relates to the technical field of signal control intersection control under the environment of a vehicle networking, in particular to a traffic signal control scheme generation method based on a map.
Background
At present, traffic jam still is a common fault of various large cities, and the main node of the traffic jam is a signal control intersection. From 1868 the first traffic light in the world installed in the west minister region of london, england, the sequential screen of urban intersection traffic control was uncovered, and the development of urban traffic control systems, such as SCOOT and SCATS, which are both technically and functionally complete today, has gone 3 times since their wide application in the world. From offline timing optimization software to online real-time adaptive control systems; from single motor vehicle traffic control to control of complex traffic objects; the control concept and technology is also developed from simple open-loop control to the advanced feedback intelligent control concept and technology, and research and development are carried out at huge cost by domestic and foreign research units and entities, and the industrialization is promoted. However, the potential of the urban traffic control system is still not fully developed, which is mainly limited by the precision and reliability of the real-time detection equipment, and the combination with the real-time road traffic guidance system is lacked, and with the rapid development of the car networking technology, the research and development of the urban traffic control system enters the third generation system stage, that is, the urban traffic adaptive control system combined with the car networking. The main characteristics of the system are as follows: closely combined with the real-time guidance system of road traffic, make the traffic flow more balanced on the road network; the method can acquire more accurate and reliable real-time traffic information, and has the advantages of accelerating the information updating frequency and greatly improving the accuracy and the applicability of the optimization algorithm.
At present, the control method adopted for controlling signalized intersections is mostly calculated by taking a Webster method (Shanghai method in China) as a bluebook, but the method has the problem that different timing structures need to be designed for intersections with different structures, so that a signalized intersection scheme needs to be designed by professionals, more time length of timing is adjusted instead of structure adjustment in the subsequent adjustment, and an effective universal signal control scheme structure establishment method which is suitable for intersections with various shapes and various states and can be updated in real time is lacked.
Disclosure of Invention
The present invention is directed to a method for generating a map-based traffic signal control scheme, which overcomes the above-mentioned drawbacks of the prior art.
The purpose of the invention can be realized by the following technical scheme:
a map-based traffic signal control scheme generation method is disclosed, wherein the traffic signal control scheme generated by the method is composed of at least one NEMA ring, and each NEMA ring corresponds to a control phase of an entrance way group.
Further, the method specifically comprises the following steps:
1) judging whether the current vehicle is in a network connection environment, if so, circularly checking the current time point, and executing the step 2) when the time is set before the end time point of the period, otherwise, sequentially executing the steps 2) -4) and then ending;
2) carrying out one-to-one correspondence between the inlet channel groups and the NEMA rings according to map information;
3) performing signal timing by adopting a Webster signal timing method and a collision avoidance mechanism to obtain the ring length, the semi-ring length and the phase length of each NEMA ring;
4) and generating a traffic signal control scheme and transmitting the traffic signal control scheme.
Further, in the step 1), the set time length is 3 s.
Further, the step 2) is specifically as follows:
the inlet channels are grouped according to inlet channel direction angles, each inlet channel group corresponds to one NEMA ring, and each inlet channel corresponds to one semi-ring.
Further, when grouping is performed, only the entrance lanes with vehicles are grouped if the environment is an internet vehicle environment, and all the entrance lanes are grouped if the environment is a non-internet vehicle environment.
Further, when the Webster signal timing method is adopted, the timing sequence is determined by comprehensively considering the saturation of the entrance road and the number of the lane groups.
Further, the collision avoidance mechanism includes:
a) in the design of each semi-ring, the semi-rings firstly go straight and then turn left, and the phase sequences are the same;
b) when phase timing calculation is carried out according to the saturation of an inlet channel from high to low, if the phase is a straight special phase, whether the phase is supersaturated or not is calculated, if the phase is supersaturated, the simultaneous release time is calculated to obtain the end time of a straight green light, otherwise, timing is carried out according to the proportion;
c) traversing the timing time of the inlet road when matching is finished, if no supersaturation occurs, the end time of the green light is the end time, if the supersaturation occurs in the front, compared with the starting point of the simultaneous release time, if the time length of the green light exceeds the time point, the straight green light is shortened to the time, and the starting time of left turn is the end time of the straight green light of the previous inlet road.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention breaks through the structure of a traditional timing NEMA (national Electrical manufacturers Association) ring, realizes the correspondence and matching of map data with a control scheme and hardware facilities, realizes good adaptability to physical structures of various intersections, and basically realizes universality;
2. the invention adopts a more classical Webster method, has better stability and robustness through historical inspection, has less required parameters and simple calculation, reduces the operation time of the algorithm, ensures that the algorithm has strong real-time performance, and generally shows that the algorithm has stronger practicability and better universality;
3. the method has the advantages of high universality, high operability, low requirement on the professional of a user and convenience in popularization, and can complete operation only by inputting map information and signal lamp interface information;
4. the real-time optimization of timing can be realized by combining with the data of the Internet of vehicles.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic diagram of an intersection employed in the embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The embodiment provides a traffic signal control scheme generation method based on a map, the traffic signal control scheme generated by the method comprises at least one NEMA ring, each NEMA ring corresponds to a control phase of an entrance way group, and the method adopts a Webster signal timing method and a collision avoidance mechanism to perform signal timing to obtain the ring length, the semi-ring length and the phase length of each NEMA ring.
The half-rings in this approach are different from the half-rings in the traditional sense NEMA rings. The number of the inlet lanes in any inlet lane group is not determined, the traditional design is for a standard intersection, the semi-ring structure design is for two inlet lanes, if a plurality of inlet lanes exist, the semi-ring structure design needs to be designed one by one, for example, for the standard intersection, a structure which cannot automatically generate response under the condition that a plurality of inlet lanes exist, and personalized design is needed because of no fixed corresponding relation. The method provides a new semi-ring structure, namely semi-rings corresponding to the inlet channels one by one, wherein each inlet channel corresponds to one semi-ring. Through the design, the traffic control scheme is composed of ring groups, the intersection is composed of entrance way groups, each ring corresponds to one entrance way group, each entrance way corresponds to one semi-ring one by one, and the connection between the map and the signal control scheme is realized.
Since the conventional half-ring mechanism is broken, an effective mechanism is needed to avoid conflict, namely, conflict between left-turn and straight-going, firstly, the phase sequence of each inlet channel in the same ring needs to be the same, and secondly, even if the sequence is the same, since the phase calculation of each inlet channel is independent and the phase length is not necessarily the same, a key inlet channel should be provided, the straight-going green light of the key inlet channel is taken as a benchmark, and if the straight-going green light time of other inlet channels is shorter than the straight-going green light time, the green light time is taken as the green light time to avoid conflict. The avoidance mechanism is summarized as follows:
① each half ring should go straight first and turn left later to ensure the same phase sequence;
② calculating phase timing according to the saturation of inlet channel from high to low, if it is a straight special phase, calculating whether it is oversaturated, if it is oversaturated, calculating the simultaneous release time, giving the end time of straight green light, otherwise timing according to the proportion, that is, distributing green light time for each phase according to the proportion of the maximum flow ratio of each phase;
③, the timing time of the inlet lane when it is previously matched is traversed, the comparison is made, if no over-saturation occurs, the green light end time is the green light end time of the inlet lane in phase, if over-saturation occurs in front, the straight green light is shortened to the time compared with the starting point of the simultaneous let-off time, if the green light time length exceeds the time point of the straight going and left-hand turn simultaneous let-off in front over-saturation phase, and the starting time of left-hand turn is the ending time of the straight green light of the previous inlet lane.
In summary, as shown in fig. 1, the method of the present invention specifically includes the following steps:
(1) if the environment is a networking vehicle environment, checking a current time point and a cycle ending time point, when the cycle is about to end, the cycle ending limit is 3s, executing the step (2), otherwise, executing the step (1), and if the environment is a non-networking vehicle environment, directly executing the steps (2) to (11), and not iterating in real time;
(2) grouping the entrance lanes according to the direction angles of the entrance lanes (all entrance lanes if the entrance lanes are in a non-networked environment) of vehicles, wherein each group corresponds to one ring, and if one entrance lane group only comprises one entrance lane, the ring of the entrance lane group is a semi-ring;
(3) each inlet channel corresponds to one semi-ring, and the semi-rings are added into the rings;
(4) determining the saturation of each lane group, each entrance way and each entrance way group, and determining the ring length and the half ring length according to the entrance way group, wherein the method specifically comprises the following steps: calculating the period duration by using a Webster method (Shanghai method) according to the maximum saturation of each inlet channel group, and distributing the passing time, namely the ring length, of each inlet channel group according to the ratio of the period duration to the maximum saturation of each inlet channel group, wherein the half ring length is the same as the ring length;
(5) the comprehensive entrance lane saturation and the number of lane groups are sorted from large to small;
(6) determining the length of each phase according to the saturation ratio of the lane group;
(7) checking whether the phase is over-saturated, if so, performing phase extension;
(8) traversing the previously matched inlet channel, checking whether the phase is prolonged, if so, executing the step (9), otherwise, executing the step (10);
(9) the green light straight-moving time takes the starting time of turning left green light as the ending time, and the starting time of turning left is the ending time of straight-moving;
(10) taking the straight green time of the first entrance lane as the straight green time, and adjusting the time for turning left green;
(11) whether the channel is the last entrance channel or not, if not, jumping to the sixth step, otherwise, executing the step (12);
(12) and generating and sending a signal lamp sending instruction.
The sorting of the comprehensive entrance lane saturation and the number of the lane groups in the step (5) is determined by a coefficient, when a left-turn entrance lane exists, the lane group is multiplied by the coefficient, the coefficient is 1.5, and the coefficient is increased by 1 every time no left-turn phase exists in a period, so that the value and the design reason are to avoid long-time overstock on left-turn vehicles of the small-flow entrance lane.
Taking the intersection as an example as shown in fig. 2, the intersection should be divided into two rings according to the above method, wherein the east-west entrance lane constitutes one ring and the south entrance lane constitutes one ring (the ring has only one half ring). In the east-west entrance lane, the west entrance lane is straight, and the east entrance lane is straight and turns left. One phase for the west inlet lane, two phases for the east inlet lane, and two phases for the south inlet lane.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. A map-based traffic signal control scheme generation method is characterized in that the traffic signal control scheme generated by the method is composed of at least one NEMA ring, each NEMA ring corresponds to a control phase of an entrance way group, and the method specifically comprises the following steps:
1) judging whether the current vehicle is in a network connection environment, if so, circularly checking the current time point, and executing the step 2) when the time is set before the end time point of the period, otherwise, sequentially executing the steps 2) -4) and then ending;
2) carrying out one-to-one correspondence between the inlet channel groups and the NEMA rings according to map information;
3) performing signal timing by adopting a Webster signal timing method and a collision avoidance mechanism to obtain the ring length, the semi-ring length and the phase length of each NEMA ring;
4) and generating a traffic signal control scheme and transmitting the traffic signal control scheme.
2. The map-based traffic signal control scheme generation method of claim 1, wherein the step 1) is set for a duration of 3 s.
3. The map-based traffic signal control scheme generation method of claim 1, wherein the step 2) is specifically:
the inlet channels are grouped according to inlet channel direction angles, each inlet channel group corresponds to one NEMA ring, and each inlet channel corresponds to one semi-ring.
4. The map-based traffic signal control scheme generation method according to claim 3, wherein, in grouping, only the entrance lanes with vehicles are grouped if the environment is an internet vehicle environment, and all the entrance lanes are grouped if the environment is a non-internet vehicle environment.
5. The map-based traffic signal control scheme generation method of claim 1, wherein the webster signal timing method is employed in which timing sequence is determined taking into account both entrance lane saturation and number of lane groups.
6. The map-based traffic signal control scheme generation method of claim 1, wherein the collision avoidance mechanism comprises:
a) in the design of each semi-ring, the semi-rings firstly go straight and then turn left, and the phase sequences are the same;
b) when phase timing calculation is carried out according to the saturation of an inlet channel from high to low, if the phase is a straight special phase, whether the phase is supersaturated or not is calculated, if the phase is supersaturated, the simultaneous release time is calculated to obtain the end time of a straight green light, otherwise, timing is carried out according to the proportion;
c) traversing the timing time of the inlet lane when matching is finished, if no supersaturation occurs, the end time of the green light is the end time of the straight green light of the previous phase, if the front supersaturation occurs, compared with the starting point of the simultaneous release time, if the time length of the green light exceeds the starting point of the time, the straight green light is shortened to the time, and the left turn starting time is the end time of the straight green light of the previous inlet lane.
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