CN107767666B - Intelligent detection single-point control intersection exit traffic flow overflow prevention and control method - Google Patents

Intelligent detection single-point control intersection exit traffic flow overflow prevention and control method Download PDF

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CN107767666B
CN107767666B CN201610703549.6A CN201610703549A CN107767666B CN 107767666 B CN107767666 B CN 107767666B CN 201610703549 A CN201610703549 A CN 201610703549A CN 107767666 B CN107767666 B CN 107767666B
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overflow
detection area
time
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congestion
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CN107767666A (en
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任秀欢
蒋光胜
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Abstract

The invention relates to an intelligent detection single-point control intersection exit traffic flow overflow prevention and control method. Aiming at the problem of traffic jam caused by queuing overflow of outlet traffic flow, which is commonly existed in cities at the time of traffic flow peak, of a single-point signal control intersection, the invention provides a scheme for setting a detection area at an outlet approach, the traffic flow overflow condition is divided into three conditions of queuing overflow early warning, queuing overflow jam warning and intersection jam event warning through parameter judgment, the methods of adjusting phase, phase sequence, green light time length, interval time length and the like are comprehensively adopted to realize the rapid treatment of the former two conditions, and the intersection jam event warning can request the serious jam event to participate manually. The detection scheme provided by the invention overcomes the defect of low data precision caused by the influence of vehicles entering and exiting from the opening in the prior art, and the comprehensive application of the traffic signal dispersion technology not only realizes the rapid treatment of the queuing overflow condition, but also enhances the practicability compared with the prior art.

Description

Intelligent detection single-point control intersection exit traffic flow overflow prevention and control method
Technical Field
The invention relates to the field of urban traffic signal control, in particular to an intelligent detection single-point control intersection exit traffic flow overflow prevention and control method.
Background
The single-point signal control intersections generally exist in urban traffic management, such intersections mostly adopt a single-point multi-period timing control mode, namely, the operation periods of a timing scheme are divided according to the traffic flow operation characteristics of the intersections, and the timing scheme is preset in a signal controller and comprises design phase, phase sequence, preset signal period, green light time, interval time and other parameters. The adaptability of the timing scheme and the traffic flow greatly influences the traffic running condition of the intersection.
At present, traffic flow is in a centralized blowout state in a peak period due to rapid growth of cars, when the traffic flow entering a road section exceeds the traffic capacity of a road or a traffic accident occurs in the road section, vehicles entering the road section subsequently are forced to queue to form backlog, if the backlog cannot be formed by timely adjusting traffic signals of an upstream intersection under the condition, other timely treatment cannot be achieved, the vehicles which are queued to overflow into the upstream intersection easily, the vehicles which are queued to overflow can block the running of the vehicles in other directions of the intersection, and the intersection can be seriously deadlocked, so that the traffic jam problem caused by queuing and overflowing of the traffic flow at the exit of the intersection is considered.
The existing queuing overflow prevention and control method has the principle that the traffic flow existing in a road section is detected by detectors embedded at two ends of the road section; calculating to obtain the vehicle queuing length; judging the queuing overflow state of the intersection according to the vehicle density; and calculating the green light release time of the intersection to treat and prevent queuing overflow. The principle of adjusting the green light release time is to reduce the green light time of the directional traffic flow causing the queuing overflow aggravation at an upstream intersection, and simultaneously increase the phase green light time capable of evacuating the queued vehicles at a downstream intersection, so that the queuing length balance of each intersection in the area is realized when the method is applied to a plurality of intersections.
The prior art has the following defects:
1) the data acquisition needs to arrange detectors at two ends of the road section, and the number of the vehicles in line on the road section is calculated according to the number of the passing vehicles detected by the two detectors. Because the roadside often has a plurality of openings, the quantity of entering and exiting vehicles at the openings influences the precision of data results, and therefore the accuracy of judging the queuing overflow condition is low.
2) And the queuing overflow condition is treated and prevented by adjusting the duration of the green light. In the practical application of traffic signal diversion of intersection traffic flow, a combination method of adjusting phase, phase sequence, signal period, green light time, interval time and the like is needed, the signal optimization technology proposed by the existing research is single, and the practical applicability is not strong.
Disclosure of Invention
The invention aims to solve the problems of deadlock of a single-point signal control intersection caused by overflow of an exit traffic flow and the defects of low judgment accuracy of a queuing overflow condition and poor practical applicability of a queuing overflow condition handling technology in the prior art, provides an intelligent detection single-point control intersection exit traffic flow overflow prevention and control method, and provides a queuing overflow condition early warning and rapid handling method which is more in line with practical traffic flow dispersion.
In order to achieve the purpose, the technical scheme of the invention is as follows:
1. an intelligent detection single-point control intersection exit traffic flow overflow prevention and control method comprises the following steps:
1) determining a detection area and acquiring traffic flow parameters, defining a reasonable queuing overflow condition detection area on an exit approach of a single intersection, and designing a detection layout scheme to acquire related traffic flow parameters in the detection area;
2) calculating the average time occupancy and the average vehicle speed of the passing detection area, acquiring the time when all vehicles enter and leave the detection area by the intelligent detector, and calculating to obtain the average time occupancy and the average vehicle speed;
3) and (3) judging queuing overflow early warning, if vehicles crossing a stop line cannot drive into an exit approach within a certain time in a phase green light period, at the moment, vehicles located in a detection area of the exit approach are in a slow-moving queuing condition, vehicles driving into the exit approach within the next starting phase period decelerate or stop and queue at the exit, and setting the critical condition as queuing overflow early warning. Collecting the traffic flow of the lane passing through the stop line by a signal machine, and calculating the critical passing speed of all vehicles passing through the stop line in a green light time period of a certain phase by combining with static parameters of the intersection; meanwhile, the critical traffic time occupancy rate that the vehicle passes through the detection area in a green light period of a certain phase without causing a queuing overflow condition is calculated. Judging the queuing overflow condition of the exit approach according to the comparison of the average time occupancy and the critical time occupancy, and the average speed and the critical passing speed, and setting a queuing overflow early warning;
4) the early warning of queue overflow is quickly handled, and when the early warning of queue overflow occurs, under the condition that the signal period is not changed, the aim of relieving the early warning is fulfilled by adjusting the emptying time and the green light time of the relevant release phase;
5) and (4) judging queuing overflow jam, namely, when the queuing overflow vehicles on the exit approach completely block traffic flows in other directions from running through the intersection, calling that the queuing overflow jam occurs in the intersection. Calculating a critical congestion running speed and a critical congestion time occupancy when the queuing overflow congestion does not occur in a green light time period of a certain phase, judging the queuing overflow congestion condition according to comparison between the average time occupancy and the critical congestion time occupancy, and between the average vehicle speed and the critical congestion running vehicle speed, and setting a queuing overflow congestion alarm;
6) the congestion is quickly handled, when the congestion is caused, the green light releasing time of the congestion phase is adjusted by setting or adjusting the releasing sequence, so that the purpose of relieving the congestion is achieved;
7) and under the condition that overflow congestion occurs, when the traffic flow in other directions is detected to be zero and exceeds a certain time, alarming for the congestion event at the intersection. And requesting manual participation to perform rapid handling of the congestion event alarm.
2. The method for determining the detection area and acquiring the traffic flow parameters comprises the following steps:
1) the detector is arranged at an approach of a road intersection, the installation position is preferably selected to be near a stop line, the detector can also be installed by a rod of an electronic police at the intersection, the detector faces the intersection, the detector can be a video detector or a microwave detector or other types of vehicle detectors, and the type selection requires the functions of detecting the existence of the vehicle and recording the time when the vehicle enters and leaves a detection area.
A detection area is determined at an exit approach of a road intersection, the detection area is a virtual coil which covers all lanes at the exit and has a certain length, the width W of an exit approach is wide, the length L is set to be 20 m, the initial section of the detection area is flush with a stop line of the equidirectional entrance approach (the detection area is suitable for the condition that a right-turning vehicle is controlled by a signal lamp), and the detection area can also be arranged at a critical position (suitable for the condition that the right-turning vehicle is not controlled by the signal lamp) which causes the condition of queuing overflow according to the queuing condition of the existing exit approach.
In the implementation process, a detection area is determined in the first step, the installation position is determined according to the technical parameters of the detector in the second step, and the installation mode and the installation angle of the detector are determined in the third step.
In the system construction process, the signal machine is required to have the function of collecting the traffic flow of the lane by the stop line, and the detector can communicate with the signal machine to realize data transmission.
Measuring and calculating the number N of vehicles entering a detection area in a certain period by an intelligent detector; time when a certain vehicle enters the detection area
Figure GDA0002729536200000031
Time when a vehicle leaves the detection area
Figure GDA0002729536200000032
2) Calculating the average time occupancy rate of the vehicle passing through the detection area in the current period, wherein the calculation formula is as follows:
Figure GDA0002729536200000033
Figure GDA0002729536200000034
wherein T is the acquisition period, N is the number of vehicles passing through the detection area in the current period,
Figure GDA0002729536200000035
for the time the nth vehicle dwells on the detector,
Figure GDA0002729536200000036
the time when the nth vehicle enters the detection area,
Figure GDA0002729536200000037
the time when the nth vehicle drives away from the detection area; when the vehicle is within the detection zone,
Figure GDA0002729536200000038
the clock time of the current sample is taken.
Calculating the average running speed of the vehicle passing through the detection area in the current period, wherein the calculation formula is as follows:
Figure GDA0002729536200000039
Figure GDA00027295362000000310
wherein v isnFor the traveling speed of the nth vehicle through the detection area,
Figure GDA00027295362000000311
the average traveling speed of all vehicles passing through the detection area in the current period is used.
3) In a green light time period of a certain phase, the critical passing speed that vehicles passing the stop line can all drive into the exit approach is calculated, and the calculation formula is as follows:
Figure GDA0002729536200000041
wherein the content of the first and second substances,
Figure GDA0002729536200000042
the number of all vehicles which pass the stop line and enter the intersection in a certain flow direction in the phase green light period, a is the number of lanes of the exit approach, lcarIs the average vehicle length, s0For average driving safety distance, DdirThe distance or arc length from the stop line to the starting end of the detection area, GphaFor the phase green duration, YphaFor the duration of the phase yellow lamp,
Figure GDA0002729536200000043
the vehicle crossing the stop line in the phase green light period can completely drive into the critical passing vehicle speed of the exit approach.
In the formula, a plurality of traffic flows with different flow directions are simultaneously driven into the exit approach in a green light time period of a certain phase,
Figure GDA0002729536200000044
and DdirThe values are respectively taken, for example, in a cross signal light control intersection without controlling right-turning vehicles, a straight traffic flow and a right-turning traffic flow simultaneously drive into an exit approach in a straight-going phase green light time period
Figure GDA0002729536200000045
Taking the flow of straight traffic
Figure GDA0002729536200000046
And right turn traffic flow
Figure GDA0002729536200000047
(
Figure GDA0002729536200000048
And
Figure GDA0002729536200000049
collected and provided by the signal controller), corresponding, DdirDistance D from straight lane stop line to starting end of detection areasAnd the streamline arc length L from the right-turn lane stop line to the starting end of the detection arear。
Vehicles driving into the exit approach immediately enter the detection area, and if the vehicles run at a reduced speed or stay in the detection area (the vehicles ahead are queued to cause the speed reduction of subsequent vehicles), the vehicles entering subsequently are forced to be reduced or stopped, and the queuing of the vehicles is easy to cause the queuing overflow condition. The critical transit time occupancy calculation formula for a vehicle passing through a detection zone without causing a queue overflow condition to occur is as follows:
Figure GDA00027295362000000410
Figure GDA00027295362000000411
wherein, tTong (Chinese character of 'tong')The occupied time for a certain vehicle to pass through the detection area without causing queuing overflow, T is the acquisition period, N is the number of vehicles passing through the detection area in the current period, TTong (Chinese character of 'tong')Is the critical transit time occupancy for a vehicle to pass through a detection zone without causing a queue overflow to occur.
From the above, it is inferred that
Figure GDA00027295362000000412
And is
Figure GDA00027295362000000413
And (4) performing early warning of queue overflow, and performing quick treatment of the early warning of queue overflow, otherwise, not generating a queue overflow condition.
4) The early warning and quick treatment of queue overflow is to keep the signal period unchangedIn the case of (2) adjusting the interval of the release phase leading to and exacerbating the occurrence of a queue overflow condition, e.g. reducing the phase green time GphaWhile increasing or enlarging the phase clearing time RphaThe increase and decrease range is usually 2-3 seconds, and the time length of the phase green light after adjustment needs to be noticed and is not less than the minimum green light time length of the phase. The measure can effectively reduce the number N of vehicles entering the exit approach and prevent the occurrence of queuing overflow.
5) When vehicles which are out of line and overflow from the exit approach completely obstruct traffic flow in other directions from driving through the intersection, the traffic flow is called that the congestion of out-of-line and overflow occurs in the intersection. The vehicles overflowing in the queue are most likely to block the approach of the adjacent entrances in the intersecting direction, the tail of the queue of the vehicles in the queue is close to the center line of the intersecting road, the critical congestion running speed when the congestion overflowing in the queue occurs in a green light time period of a certain phase is calculated, and the calculation formula is as follows:
Figure GDA0002729536200000051
wherein the content of the first and second substances,
Figure GDA0002729536200000052
the distance from the stop line to the center line of the road in the intersecting direction,
Figure GDA0002729536200000053
the critical congestion running speed is the critical congestion running speed when the queuing overflow congestion occurs in a certain phase green light time period; a is the number of lanes of the exit approach, lcarIs the average vehicle length, s0In order to average the driving safety distance,
Figure GDA0002729536200000054
the number of all vehicles which drive into the intersection beyond the stop line in a certain flow direction in the phase green light period, GphaFor the phase green duration, YphaFor the phase yellow light duration, the meanings and values of the rest letters of the formula are the same as those described above.
In the above formula, there are several traffic flows with different flow directions in a certain phase of green light periodWhen the vehicle is driven into the exit approach,
Figure GDA0002729536200000055
and
Figure GDA0002729536200000056
the values are respectively taken according to actual conditions, for example, in a cross signal lamp controlled intersection without controlling right-turning vehicles, a straight traffic flow and a right-turning traffic flow simultaneously drive into an exit approach in a straight-going phase green lamp time period
Figure GDA0002729536200000057
Taking the flow of straight traffic
Figure GDA0002729536200000058
And right turn traffic flow
Figure GDA0002729536200000059
(
Figure GDA00027295362000000510
And
Figure GDA00027295362000000511
collected and provided by the signal controller), correspondingly,
Figure GDA00027295362000000512
taking the distance d from the stop line of the straight lane to the road center line in the crossing directionsAnd half of the streamline arc length from the right-turn lane stop line to the starting end of the detection area
Figure GDA00027295362000000513
Then, the critical congestion time occupancy rate of the queue overflow congestion occurring in the green light period of a certain phase is calculated according to the following formula:
Figure GDA00027295362000000514
Figure GDA00027295362000000515
wherein, tPlugOccupancy time, T, for a vehicle passing through a detection zone to cause queue overflow congestionPlugThe critical congestion time occupancy rate of the queuing overflow congestion caused by the vehicles passing through the detection area is determined, and the meanings and values of the rest letters in the formula are the same as those of the above.
When in use
Figure GDA00027295362000000516
And is
Figure GDA00027295362000000517
And when the queuing overflow congestion occurs, alarming, and executing quick handling of the queuing overflow congestion.
6) The fast treatment of queue overflow congestion comprises two steps:
a) when a certain exit approach is in queuing overflow congestion, firstly, phase judgment in the current signal control scheme is carried out, and the phases which do not pass through the exit approach are preferentially released;
b) adjusting the phase green light duration for emphasizing the queuing condition of the exit approach vehicles, wherein the calculation formula is as follows:
Figure GDA0002729536200000061
Figure GDA0002729536200000062
wherein, gphaReduced duration for phase green light, DdirThe distance or arc length from the stop line to the starting end of the detection area,
Figure GDA0002729536200000063
the distance from the stop line to the center line of the road in the intersecting direction,
Figure GDA0002729536200000064
is a certainCritical congestion travel speed when queue overflow congestion occurs during the phase green light period,
Figure GDA0002729536200000065
for adjusting the post-phase green duration, GphaFor the phase green duration, it should be noted that the adjusted phase green duration should be not less than the minimum green duration of the phase.
In the above formula, for the crossroad signal lamp controlled by the non-controlled right-turning vehicle, DdirAnd
Figure GDA0002729536200000066
only the primary direction of traffic leading to queue overflow congestion is considered.
7) In the case of overflow congestion, when
Figure GDA0002729536200000067
And is
Figure GDA0002729536200000068
And (C is the signal control period duration), alarming for the intersection jam event. The purpose of intersection congestion event alerting is to request human participation.
The reason for the alarm of the congestion event and the quick handling method have the following two situations:
a) the traffic flow of the exit road section with the vehicles which are queued to overflow is in a saturated state, and the scheme has little effect only by adjusting the signal timing of the intersection. After the alarm of the congestion event is carried out, under the condition of manual monitoring, a signal phase-skipping releasing strategy can be adopted, namely, a releasing phase of traffic flow in the direction of the heavily congested road section is skipped, and meanwhile, the green light time of an approach road at an entrance of a downstream intersection is increased along the direction of the congested road section, so that the aim of rapidly relieving the congestion is fulfilled.
b) Traffic accidents occur in exit road sections with vehicles which are lined up and overflowed, the traffic accidents block or obstruct normal traffic flow, and the vehicles are lined up and overflowed into intersections due to long-term influence. After the alarm of the congestion event is carried out, the fast investigation of the congestion reason is carried out by central video monitoring or manual investigation of traffic accidents.
Advantageous effects
The invention provides a method for preventing and controlling overflow of traffic flow at an exit of an intersection by a single-point signal, which is different from a scheme of arranging detectors at two ends of a road section and a data acquisition path in the prior art.
According to the method, three conditions of queue overflow early warning, queue overflow congestion and intersection congestion events are classified for intersection exit traffic flow overflow, critical driving speed and critical time occupancy corresponding to each condition are obtained through analysis respectively, and alarm is set through data comparison so as to start rapid disposal measures. The queuing overflow early warning and monitoring can prevent the occurrence of overflow of the traffic flow at the outlet; the queuing overflow congestion alarm can start a traffic signal optimization technology to quickly solve the congestion problem; the intersection jam event alarm reports serious congestion events in the intersection to the center and requests manual participation so as to investigate congestion reasons as soon as possible and solve the congestion problem. And the overflow events are subjected to condition classification and are respectively treated, so that the complexity of actual traffic operation is more met.
The method mainly adjusts the interval time of relevant release phases for the quick disposal of early warning of queue overflow, and adjusts the release phase sequence and the green light release duration of the relevant phases for the quick disposal of congestion of queue overflow, so that the method adopts comprehensive measures and technologies, is gradual and more suitable for practical application of intersection traffic signal dispersion, and realizes the effects of preventing and quickly disposing of overflow of the traffic flow at the outlet.
Drawings
FIG. 1 is a flow chart of the method of the present invention
FIG. 2 is a schematic diagram of detection area planning and detector deployment-borrowing electronic police rod members using video detectors
FIG. 3 is a diagram of an exemplary four-phase signal timing scheme
Detailed Description
So that the manner in which the above recited features of the present invention can be understood and readily understood, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings, wherein:
as shown in fig. 1, in an embodiment of the intelligent detection single-point control intersection exit traffic flow overflow prevention and control method, a video detector is adopted, and the method comprises the following steps:
the first step is to determine the detection area and obtain the traffic flow parameters. In practice, a) determining the detection area: a detection area is determined at an exit of a road intersection for approach, and the detection area is a virtual coil with a certain length covering all lanes at the exit, as shown in fig. 2. The detection area width W is wide in the access way of the exit, the length L is set to be 20 m, the initial section of the detection area is flush with the stop line of the access way with the same direction (suitable for the condition that the right-turning vehicle is controlled by a signal lamp), and the detection area can also be set at the critical position (suitable for the condition that the right-turning vehicle is not controlled by the signal lamp) causing the queuing overflow condition according to the queuing condition of the exit access way in the past. b) And (3) carrying out detector type selection: the request detector has a function of detecting the presence of a vehicle and recording the time when the vehicle enters and leaves the detection area. c) Determining the installation position and the installation mode according to the technical parameters of the detector: the video detector is installed at an entrance approach of a road intersection, the installation position is preferably selected to be near a stop line, the video detector can also be installed by means of a rod of an electronic police at the intersection, and a lens of the video detector faces the intersection. d) Realize detector and semaphore communication, in the system is built, require the semaphore to possess the function of gathering the lane traffic flow of dividing through the stop line, detector and semaphore realization communication realize data transmission. e) Acquiring traffic flow parameters: one way is to measure and calculate the number N of vehicles entering the detection area and the time of a certain vehicle entering the detection area by a video detector
Figure GDA0002729536200000071
And time to drive off the detection area
Figure GDA0002729536200000072
Another approach is to obtain lane-dividing traffic through the stop-line during the phase green period from the traffic signal.
The second step calculates the average vehicle speed and average occupancy. And calculating the average speed and the average occupancy rate to judge the queuing overflow condition in the third step, calculating the average speed and the average occupancy rate according to the acquired traffic flow parameters of the detection area to reflect the dynamic characteristics of the traffic flow of the current exit approach, calculating the critical traffic speed and the critical traffic time occupancy rate, the critical congestion driving speed and the critical congestion time occupancy rate according to the acquired traffic flow crossing the stop line and the relevant static parameters of the intersection, and taking the critical speed and the critical time occupancy rate as threshold values for judging the overflow condition.
1) Calculating the average time occupancy of the vehicle passing through the detection area in the current period, wherein the average running speed can be calculated according to the average time occupancy, and the calculation formula is as follows:
Figure GDA0002729536200000081
Figure GDA0002729536200000082
wherein T is an acquisition period; n is the number of vehicles passing through the detection area in the current period;
Figure GDA0002729536200000083
the time for which the nth vehicle stays on the detector;
Figure GDA0002729536200000084
the time when the nth vehicle enters the detection area is taken;
Figure GDA0002729536200000085
the time when the nth vehicle drives away from the detection area; when the vehicle is within the detection zone;
Figure GDA0002729536200000086
the clock time of the current sample is taken.
2) Calculating the average running speed of the vehicle passing through the detection area in the current period, wherein the calculation formula is as follows:
Figure GDA0002729536200000087
Figure GDA0002729536200000088
wherein v isnThe driving speed of the nth vehicle passing through the detection area; l is the length of the detection area;
Figure GDA0002729536200000089
the average traveling speed of all vehicles passing through the detection area in the current period is used.
3) The critical passing vehicle speed that vehicles crossing the stop line in a certain phase green light time period can all drive into the exit approach is calculated, and the calculation formula is as follows:
Figure GDA00027295362000000810
wherein the content of the first and second substances,
Figure GDA00027295362000000811
the number of all vehicles which pass the stop line and enter the intersection in a certain flow direction in the phase green light time period is counted; a is the number of lanes of the exit approach; lcarThe average vehicle length is generally 5-7 m, when the ratio of the large vehicles is more than 30%, a higher value is taken, otherwise, a lower value is taken, and the ratio of the large vehicles is obtained by field traffic flow observation; s0The average driving safety distance is generally 3 meters; ddirThe distance or arc length from the stop line to the starting end of the exit detection area is obtained by field measurement; gphaThe green lamp duration for that phase; y isphaThe time length of the yellow lamp in the phase is obtained by reading the signal timing of the annunciator;
Figure GDA00027295362000000812
the vehicle crossing the stop line in the phase green light period can completely drive into the critical passing vehicle speed of the exit approach.
In the formula, a plurality of traffic flows with different flow directions are simultaneously driven into the exit approach in a green light time period of a certain phase,
Figure GDA00027295362000000813
and DdirValues should be taken respectively, as shown in fig. 3, in a four-phase signal timing scheme without controlling right turn, the first phase is a straight-going phase in east and west directions, a straight-going traffic flow and a right-turn traffic flow simultaneously enter an exit approach in a green light period, and a critical passing speed calculation formula of an east exit is as follows:
Figure GDA0002729536200000091
wherein the content of the first and second substances,
Figure GDA0002729536200000092
the traffic of the straight-ahead vehicle crossing the stop line from west to east in the green light period;
Figure GDA0002729536200000093
the right turn traffic flow of the south-east crossing the stop line in the green light period;
Figure GDA0002729536200000094
the duration of the green light is the east-west direction straight-going phase;
Figure GDA0002729536200000095
the duration of the yellow lamp is the east-west straight-going phase; dsThe distance from the stop line of the west-entrance straight lane to the start end of the east-exit detection area; l isrThe length of a streamline arc from a stop line of a south entrance right-turn lane to the start end of an east exit detection area;
Figure GDA0002729536200000096
is the west-east straight-going phaseA critical passing speed of the bit; the remaining parameters in the formula are as described above.
4) Calculating the critical transit time occupancy rate of the vehicle passing through the detection area without causing the occurrence of the queue overflow condition, wherein the calculation formula is as follows:
Figure GDA0002729536200000097
Figure GDA0002729536200000098
wherein, tTong (Chinese character of 'tong')An occupancy time for a certain vehicle to pass through the detection area without causing queue overflow; l is the length of the detection area; t is an acquisition period; n is the number of vehicles passing through the detection area in the current period; t isTong (Chinese character of 'tong')Is the critical transit time occupancy for a vehicle to pass through a detection zone without causing a queue overflow to occur.
5) And calculating the critical congestion running speed when the queuing overflow congestion occurs in the green light time period of a certain phase, and when the queuing overflow vehicles of the exit approach completely block traffic flow in other directions from running through the intersection, calling that the queuing overflow congestion occurs in the intersection. The calculation formula is as follows:
Figure GDA0002729536200000099
wherein the content of the first and second substances,
Figure GDA00027295362000000910
the distance from the stop line to the center line of the road in the intersecting direction,
Figure GDA00027295362000000911
the meanings and values of the rest letters of the formula are the same as the above for the critical congestion running speed when the queue overflow congestion occurs in a green light time period of a certain phase. In practical application, when several different traffic flows are driven into a certain exit simultaneously in a phase, the calculation formula is referred to
Figure GDA00027295362000000912
And (4) calculating a formula. As shown in fig. 3, in the signal timing scheme, the calculation formula of the critical congestion traveling vehicle speed at the east exit is as follows:
Figure GDA00027295362000000913
dsthe distance from the stop line of the west-entrance straight lane to the central line of the south-entrance road;
Figure GDA0002729536200000101
a critical passing speed of a west-to-east straight-going phase; the remaining parameters in the formula are as described above.
6) Calculating the critical congestion time occupancy rate of queuing overflow congestion in a certain phase green light time period, wherein the calculation formula is as follows:
Figure GDA0002729536200000102
Figure GDA0002729536200000103
wherein, tPlugOccupancy time, T, for a vehicle to pass through a detection zone causing a queue overflow jamPlugAnd the critical congestion time occupancy rate of the queue overflow congestion caused by the vehicle passing through the detection area is obtained, and the other parameters in the formula are the same as those described above.
And thirdly, judging the queue overflow condition. And dividing the queue overflow condition into three conditions according to the influence degree of the queue overflow condition. The critical passing vehicle speed in the sampling period T can be obtained by the calculation of the second step
Figure GDA0002729536200000104
Critical transit time occupancy TTong (Chinese character of 'tong')Critical congestion driving speed
Figure GDA0002729536200000105
And critical congestion time occupancy TPlugMeanwhile, the average time occupancy rate of the vehicle passing through the detection area in the sampling period T is calculated from the detection data
Figure GDA0002729536200000106
And the running speed
Figure GDA0002729536200000107
1) Deriving a queue overflow condition from the queue overflow early warning definition: when a certain direction occurs at the intersection
Figure GDA0002729536200000108
And is
Figure GDA0002729536200000109
And then queue overflow early warning is generated.
2) Deriving a congestion condition occurrence condition from the above queue overflow congestion definition: when a certain direction occurs at the intersection
Figure GDA00027295362000001010
And is
Figure GDA00027295362000001011
And when the alarm is carried out, overflow jam alarm occurs.
3) Deducing a congestion event alarm occurrence condition according to the intersection congestion event alarm definition: when the intersection overflows and the congestion direction occurs
Figure GDA00027295362000001012
And is
Figure GDA00027295362000001013
And (C is the signal control period duration), alarming for the intersection jam event.
And fourthly, starting corresponding rapid treatment measures according to the early warning type triggered by the third step.
1) And (4) early warning and quick handling of queue overflow.
Adjusting the interval of the release phase leading to and exacerbating the occurrence of a queue overflow condition, e.g. reducing the phase green time G, while maintaining the signal period constantphaThe aim is to reduce the vehicles entering the intersection and to increase or enlarge the phase clearing time RphaThe aim is to increase the time for the vehicles in the intersection to slowly queue to enter the exit approach. Reduction of GphaAnd increase RphaThe time of the intersection is equal, the increase and decrease range is 2-3 seconds each time, and the intersection can be adjusted repeatedly for multiple times so that the early warning of queuing and overflowing does not occur. It should be noted that the adjusted phase green duration should be no less than the preset minimum green duration for that phase.
2) And (4) quickly handling queuing overflow congestion.
The fast treatment of queue overflow congestion comprises two steps:
a) when a certain exit approach is in queuing overflow congestion, firstly, phase judgment in the current signal control scheme is carried out, and the phases which do not pass through the exit approach are preferentially released.
For example, in fig. 3, the current signal release sequence is: when the signal machine executes the phase 4, the system detects that queuing overflow jam alarm occurs at an east exit approach, and the system releases signals for executing the phase 2, the phase 3, the phase 1 and the phase 4. And after the alarm is released, the original signal release sequence is restored.
b) The time length of the green light of the phase position for aggravating the queuing condition of the vehicles at the exit approach is reduced, so that the vehicles entering the intersection are reduced, and the number of the vehicles in queue is reduced. The calculation formula of the amplitude of the duration of the primary phase green light reduction is as follows:
Figure GDA0002729536200000111
Figure GDA0002729536200000112
wherein, gphaThe duration of the decrease for the phase green light,
Figure GDA0002729536200000113
for adjusting the post-phase green duration, GphaFor the original phase green duration, it should be noted that the adjusted phase green duration should be not less than the minimum green duration of the phase.
In the signal timing scheme shown in fig. 3, when a queue overflow congestion alarm occurs at the east exit, the green light time of phase 1 needs to be adjusted
Figure GDA0002729536200000114
The calculation formula is as follows:
Figure GDA0002729536200000115
Figure GDA0002729536200000116
gewreducing the duration for phase 1 green lamps;
Figure GDA0002729536200000117
the green light duration after the phase 1 adjustment; the remaining parameters in the formula are as described above.
3) And (4) carrying out rapid treatment on the congestion event by human participation.
There may be two reasons why a congestion event alert occurs:
a) the traffic flow of the exit road section with the vehicles which are queued to overflow is in a saturated state, and the scheme has little effect only by adjusting the signal timing of the intersection;
b) traffic accidents occur in exit road sections with vehicles which are lined up and overflowed, the traffic accidents block or obstruct normal traffic flow, and the vehicles are lined up and overflowed into intersections due to long-term influence.
The purpose of intersection congestion event alerting is to request human participation.
As shown in fig. 3, in the signal timing scheme, a queue overflow congestion alarm occurs at the east exit, for the situation a), under the condition of manual monitoring, a release mode of skipping phase 1, releasing phase 2, phase 3 and skipping phase 4 can be adopted, and meanwhile, the green time of the approach road at the west entrance of the downstream intersection is increased along the direction of the congested road section, so that the purpose of rapidly relieving congestion is achieved. The current signal release scheme can also be switched to a direction rotation release mode, namely phase 1-east inlet release, phase 2-south inlet release, phase 3-north inlet release and phase 4-west inlet release. And in case b), the traffic accident is monitored through video or manually checked, so that the congestion reason is quickly checked.
The foregoing embodiments and description have described the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made depending on the actual intersection form, and these changes and modifications fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. An intelligent detection single-point control intersection exit traffic flow overflow prevention and control method comprises the following steps:
1) determining a detection area and acquiring traffic flow parameters, defining a reasonable queuing overflow condition detection area on an exit approach of a single intersection, and designing a detection layout scheme to acquire related traffic flow parameters in the detection area;
2) calculating the average time occupancy and the average vehicle speed of the passing detection area, acquiring the time when all vehicles enter and leave the detection area by the intelligent detector, and calculating to obtain the average time occupancy and the average vehicle speed;
3) the method comprises the steps of performing queue overflow early warning judgment, collecting the traffic flow of the lane passing through a stop line by a signal machine, and calculating the critical passing speed of all vehicles which pass through the stop line in a green light time period of a certain phase and can enter an exit approach by combining static parameters of an intersection; meanwhile, the critical traffic time occupancy rate that vehicles pass through the detection area in a green light period of a certain phase and do not cause a queuing overflow condition is calculated; judging the queuing overflow condition of the exit approach according to the comparison of the average time occupancy and the critical time occupancy, and the average speed and the critical passing speed, and setting a queuing overflow early warning;
4) the early warning of queue overflow is quickly handled, and under the condition that the signal period is not changed, the aim of relieving the early warning is fulfilled by adjusting the emptying time and the green light time of the relevant release phase;
5) judging queuing overflow jam, namely when the queuing overflow vehicles on an exit approach completely obstruct traffic flows in other directions from running through an intersection, calling that the queuing overflow jam occurs in the intersection, judging the queuing overflow jam condition according to the comparison of the average time occupancy and the critical jam time occupancy, the average vehicle speed and the critical jam running vehicle speed by calculating the critical jam running speed and the critical jam time occupancy when the queuing overflow jam does not occur in a green light time period of a certain phase, and setting queuing overflow jam alarm;
6) the congestion is quickly handled, when the congestion is caused, the green light releasing time of the congestion phase is adjusted by setting or adjusting the releasing sequence, so that the purpose of relieving the congestion is achieved;
7) under the condition that overflow congestion occurs, when the traffic flow in other directions is detected to be zero and exceeds a certain time, intersection congestion event alarming is carried out, and manual participation is requested to carry out rapid handling of congestion event alarming;
the queue overflow early warning judgment comprises the following steps:
1) in a green light time period of a certain phase, the critical passing speed that vehicles passing the stop line can all drive into the exit approach is calculated, and the calculation formula is as follows:
Figure FDA0002808715940000011
wherein the content of the first and second substances,
Figure FDA0002808715940000012
for all vehicles entering the intersection when a certain flow direction crosses the stop line in the phase green light period, a is that of exit approachNumber of lanes,/carIs the average vehicle length, s0For average driving safety distance, DdirThe distance or arc length from the stop line to the starting end of the detection area, GphaFor the phase green duration, YphaFor the duration of the phase yellow lamp,
Figure FDA0002808715940000013
the critical passing speed that vehicles passing the stop line in the phase green light time period can all drive into the exit approach; in the formula, a plurality of traffic flows with different flow directions are simultaneously driven into the exit approach in a green light time period of a certain phase,
Figure FDA0002808715940000021
and DdirValues should be taken respectively;
2) calculating the critical transit time occupancy rate of the vehicle passing through the detection area without causing the occurrence of the queue overflow condition, wherein the calculation formula is as follows:
Figure FDA0002808715940000022
Figure FDA0002808715940000023
wherein, tTong (Chinese character of 'tong')The occupied time for a certain vehicle to pass through the detection area without causing queuing overflow, T is the acquisition period, N is the number of vehicles passing through the detection area in the current period, TTong (Chinese character of 'tong')A critical transit time occupancy rate for vehicles passing through the detection area without causing queue overflow;
3) when in use
Figure FDA0002808715940000024
And is
Figure FDA0002808715940000025
In time, queue overflow warning is generated, and queue overflow warning is executedThe alarm is quickly handled, otherwise, no queue overflow condition occurs.
2. The method for preventing and controlling the overflow of the traffic flow at the exit of the intelligently detected single-point control intersection according to the claim 1, wherein the step of determining the detection area and acquiring the traffic flow parameters comprises the following steps:
1) installing a detector at an approach at a road intersection, wherein the detector faces the intersection, and the detector is required to have the functions of detecting the existence of a vehicle and recording the time when the vehicle enters and leaves a detection area in model selection;
2) determining a detection area at an exit approach of a road intersection, wherein the detection area is a virtual coil which covers all lanes at the exit and has a certain length, the width W of an exit approach is wide, the length L is set to be 20 m, the initial section of the detection area is flush with a stop line of the same-direction entrance approach, the detection area is suitable for the condition that a right-turning vehicle is controlled by a signal lamp, the detection area is arranged at a critical position which causes the condition of queue overflow according to the queuing condition of the existing exit approach, and the detection area is suitable for the condition that the right-turning vehicle is not controlled by the signal;
3) in the system construction process, the signal machine is required to have the function of collecting the traffic flow of the lane by lane passing through the stop line, and the detector and the signal machine can communicate to realize data transmission;
4) measuring and calculating the number N of vehicles entering a detection area in a certain period by an intelligent detector; time when a certain vehicle enters the detection area
Figure FDA0002808715940000026
Time when a vehicle leaves the detection area
Figure FDA0002808715940000027
3. The method for preventing and controlling overflow of traffic flow at an exit of an intelligently detected single-point control intersection according to claim 1, wherein the step of calculating the average time occupancy rate and the average vehicle speed of the passing detection area comprises the following steps:
1) calculating the average time occupancy in the current period, wherein the calculation formula is as follows:
Figure FDA0002808715940000028
Figure FDA0002808715940000031
wherein T is the acquisition period, N is the number of vehicles passing through the detection area in the current period,
Figure FDA0002808715940000032
for the time the nth vehicle dwells on the detector,
Figure FDA0002808715940000033
the time when the nth vehicle enters the detection area,
Figure FDA0002808715940000034
the time when the nth vehicle drives away from the detection area; when the vehicle is within the detection zone,
Figure FDA0002808715940000035
taking the clock time of the current sampling;
2) calculating the average running speed of the vehicle passing through the detection area in the current period, wherein the calculation formula is as follows:
Figure FDA0002808715940000036
Figure FDA0002808715940000037
wherein v isnFor the traveling speed of the nth vehicle through the detection area,
Figure FDA0002808715940000038
the average traveling speed of all vehicles passing through the detection area in the current period is used.
4. The method for intelligently detecting the overflow prevention and control of the traffic flow at the exit of the single-point control intersection according to claim 1, wherein the queuing overflow early warning rapid treatment comprises the following steps:
adjusting the interval time of the release phase causing and aggravating the occurrence of the queue overflow condition while maintaining the signal period constant, and reducing the phase green time GphaWhile increasing or enlarging the phase clearing time RphaAnd the increase and decrease range is 2-3 seconds, and the time length of the phase green light after adjustment is not less than the minimum green light time length of the phase.
5. The method for intelligently detecting overflow prevention and control of traffic flow at the exit of the single-point control intersection according to claim 1, wherein the method for judging the queue overflow jam comprises the following steps:
1) the vehicles overflowing in the queue are most likely to block the approach of the adjacent entrances in the intersecting direction, the tail of the queue of the vehicles in the queue is close to the center line of the intersecting road, the critical congestion running speed when the congestion overflowing in the queue occurs in a green light time period of a certain phase is calculated, and the calculation formula is as follows:
Figure FDA0002808715940000039
Figure FDA00028087159400000310
the distance from the stop line to the center line of the road in the intersecting direction,
Figure FDA00028087159400000311
the critical congestion running speed is the critical congestion running speed when the queuing overflow congestion occurs in a certain phase green light time period; a is a lane of exit approachQuantity lcarIs the average vehicle length, s0In order to average the driving safety distance,
Figure FDA00028087159400000312
the number of all vehicles which drive into the intersection beyond the stop line in a certain flow direction in the phase green light period, GphaFor the phase green duration, YphaThe yellow lamp duration is the phase; in the formula, several traffic flows with different flow directions simultaneously drive into the exit approach in a certain phase green light time period
Figure FDA0002808715940000041
And
Figure FDA0002808715940000042
values are respectively taken according to actual conditions;
2) calculating the critical congestion time occupancy rate of queuing overflow congestion in a certain phase green light time period, wherein the calculation formula is as follows:
Figure FDA0002808715940000043
Figure FDA0002808715940000044
wherein, tPlugOccupancy time, T, for a vehicle passing through a detection zone to cause queue overflow congestionPlugThe critical congestion time occupancy rate of queuing overflow congestion caused by vehicles passing through the detection area is determined, and the meanings and values of the rest letters in the formula are the same as those described above;
3) when in use
Figure FDA0002808715940000045
And is
Figure FDA0002808715940000046
When the queue overflows and is blocked for alarming, the queue is executedAnd (4) quickly handling overflow congestion.
6. The method for intelligently detecting the overflow prevention and control of the traffic flow at the exit of the single-point control intersection according to claim 1, wherein the fast treatment of the queue overflow jam comprises the following steps:
1) when a certain exit approach is in queuing overflow congestion, firstly, phase judgment in the current signal control scheme is carried out, and the phases which do not pass through the exit approach are preferentially released;
2) adjusting the phase green light duration for emphasizing the queuing condition of the exit approach vehicles, wherein the calculation formula is as follows:
Figure FDA0002808715940000047
Figure FDA0002808715940000048
wherein, gphaReduced duration for phase green light, DdirThe distance or arc length from the stop line to the starting end of the detection area,
Figure FDA0002808715940000049
the distance from the stop line to the center line of the road in the intersecting direction,
Figure FDA00028087159400000410
for the critical congestion running speed when the queue overflow congestion occurs in a green light time period of a certain phase,
Figure FDA00028087159400000411
for adjusting the post-phase green duration, GphaFor the phase green time, it is necessary to pay attention to the fact that the adjusted phase green time is not less than the minimum green time of the phase, and in the above formula, for the intersection controlled by the cross signal lamp of the vehicle which does not control right turning, DdirAnd
Figure FDA00028087159400000412
only the primary direction of traffic leading to queue overflow congestion is considered.
7. The method for intelligently detecting overflow prevention and control of traffic flow at exit of single-point control intersection according to claim 1, characterized in that in case of overflow congestion, when overflow congestion occurs
Figure FDA00028087159400000413
And is
Figure FDA00028087159400000414
And C, controlling the period duration by the signal, and alarming the intersection jam event.
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