CN108961784A - Speed and intersection signal bidirection control method under a kind of automatic Pilot - Google Patents
Speed and intersection signal bidirection control method under a kind of automatic Pilot Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses speeds under a kind of automatic Pilot and intersection signal bidirection control method, for the signalized crossing for using standard twin nuclei under automatic Pilot, it acquires in real time first and the parameters such as the position, speed of operation, the current signal state that input automatic driving vehicle, establish two kinds of Controlling models of red light and green light, and then theoretical speed is calculated, and speed constraint condition is combined to calculate actual vehicle speed, vehicle arrival time.Controlled drug-release is calculated according to Delay Model, is lined up delay and signal delay, and with the minimum target of total delay value, using the method for receding horizon, dynamic optimization and best speed, each phase green light start time and the green light duration of determining automatic driving vehicle.The method of the present invention overcomes the shortcomings of that existing reach based on vehicle optimizes the unidirectionally controlled of signal timing dial, promotes the traffic efficiency of intersection under automatic Pilot, reduce current delay mainly by the double-direction control to speed and signal.
Description
Technical field
The invention belongs to intelligent transportation field, the traffic control technology for being related to urban road for automatic driving vehicle is led
Domain, more specifically to speed under a kind of automatic Pilot and intersection signal bidirection control method.
Background technique
With the development of science and technology, automatic Pilot has become the hot fields of field of traffic research and practice.Shanghai, Shenzhen,
Many explorations are made in terms of automatic Pilot in the cities such as Hangzhou.Wherein Shenzhen is on December 2nd, 2017 for the first time on open route
The global first batch of automatic Pilot bus of trial operation；" Shanghai City intelligent network connection motorway is put into effect on March 1st, 2018 in Shanghai City
Road test and management method (tentative) ", first intelligent network connection trap for automobile test licence plate is issued, domestic first national intelligence is established
It can net connection automobile (Shanghai) pilot demonstration area closed test；The river in Zhejiang Province the Hang Shao freeway of Zhejiang Province's reply is unmanned mentions
For experimental plot.
Currently, Google, Apple, Mercedes-Benz, Baidu, Tencent, tesla, Intel, it is tall and handsome up to etc. states
Inside and outside giant enterprise is all energetically developing pilotless automobile, researches and develops the relevant technologies.It is contemplated that pilotless automobile will be by
Step is widely used in every field.And autonomous driving vehicle is run in urban road, how to ensure its height at the intersection
Effect operation, it appears most important.
Under automatic Pilot environment, existing " detector can be broken through between vehicle and vehicle, vehicle and whistle control system
The unidirectional information of → control system " is transmitted, and realizes real time bidirectional communication based on car networking, technology of Internet of things, on the one hand, vehicle energy
Track of vehicle grade data (real time position, speed, acceleration, path, delay etc.) are passed into control system；On the other hand, it controls
Control parameter (green light start time, duration etc.) can also be passed to vehicle by system processed.This is realization speed and intersection
Signal double-direction control provides strong technical support.Two-way information interaction, Ke Yishi are realized by the two-way communication between bus or train route
Now to the active control of automatic driving vehicle, vehicle is made to reach intersection in the best time at the appropriate speed, cooperation signal is matched
When scheme, reach traffic control benefit more preferably purpose.
Through the literature search of existing technologies, there are mainly two types of: 1. base for existing intersection traffic control mode
The unidirectionally controlled of driving is reached in vehicle.It is reached according to detection/prediction vehicle, adjustment signal timing is to adapt to arriving for vehicle
It reaches；2. utilizing the speed of operation of information approach control vehicle in the case where signal time distributing conception is fixed.1. method changes signal
Timing, the change that downstream intersection vehicle certainly will be caused to reach, the variation of control program is caused hence into the fluctuation of traffic flow,
The variation of control program leads to the vicious circle of traffic flow more great fluctuation process again.Method is 2. to vehicle arrival time and signal control ginseng
Number separately optimizing, i.e., after first determining control parameter, the arrival time of re-optimization vehicle causes it that can not obtain optimal solution.
Summary of the invention
Technical problem: for based on vehicle reach driving unidirectionally controlled mode deficiency, the object of the present invention is to provide
Speed and intersection signal bidirection control method under a kind of automatic Pilot, by vehicle arrival time and timing parameter simultaneously as controlling
Variable processed, while the output parameter as control program, after optimization obtains best arrival time, when control vehicle is best herein
It is carved into up to intersection.Overcome the shortcomings of that existing control mode needs known vehicle to reach when optimizing signal timing dial parameter, promotes to hand over
Logical control is changed from unidirectionally controlled to double-direction control, improves intersection operational efficiency.
Technical solution: in order to solve the above technical problems, speed and the two-way control of intersection signal under automatic Pilot of the invention
Method processed, includes the following steps:
Step 1: determine the magnitude of traffic flow of each phase in intersection, number of track-lines, phase phase sequence, minimum and maximum green time,
Maximum speed and minimum Travel vehicle degree, traffic velocity of wave propagation etc..
Step 2: signal control is carried out to intersection using standard twin nuclei.
Step 3: according to the different traffic behavior of each phase, establishing two kinds of Controlling models of red light and green light, and computational theory
Speed.
Step 4: according to theoretical speed, calculating actual vehicle speed, vehicle arrival time in conjunction with speed constraint condition.
Step 5: total delay is calculated according to delay prediction model.
Step 6: according to the smallest objective function of total delay value, when determining that best speed, green light time started, green light continue
Between.
In the present invention, step 2 carries out signal control to intersection using standard twin nuclei, includes the following steps:
Step 21: the standard twin nuclei of integrative design intersection is as shown in Figure 3.Wherein Fig. 3 (left side) illustrates intersection
Basic configuration and phase in the distribution of each entrance driveway, Fig. 3 (right side) illustrates the phase that each ring includes, wherein first
Ring includes phase 1,2,3,4, and second ring includes phase 5,6,7,8.And all phases are divided into two groups, first group be phase 1,
2,5,6, second group is phase 3,4,7,8, and first group of all phases can just bring into operation second group of phase after stopping.Tool
Shown in body step such as formula (1)-(14):
T (i, 1,1)=0 (1)
T (i, 5,1)=0 (2)
T (i, 2, k)=t (i, 1, k)+v (i, 1, k) (3)
T (i, 6, k)=t (i, 5, k)+v (i, 5, k) (4)
T (i, 3, k)=t (i, 2, k)+v (i, 2, k) (5)
T (i, 3, k)=t (i, 6, k)+v (i, 6, k) (6)
T (i, 7, k)=t (i, 2, k)+v (i, 2, k) (7)
T (i, 7, k)=t (i, 6, k)+v (i, 6, k) (8)
T (i, 4, k)=t (i, 3, k)+v (i, 3, k) (9)
T (i, 8, k)=t (i, 7, k)+v (i, 7, k) (10)
T (i, 1, k+1)=t (i, 4, k)+v (i, 4, k) (11)
T (i, 1, k+1)=t (i, 8, k)+v (i, 8, k) (12)
T (i, 5, k+1)=t (i, 4, k)+v (i, 4, k) (13)
T (i, 5, k+1)=t (i, 8, k)+v (i, 8, k) (14)
In formula: (i, p, j) indicates intersection i phase p vehicle j；T (i, p, k) indicates k-th period of intersection i phase p
Green light opens the bright moment；The Phase Duration in the intersection v (i, p, k) k-th of period of i phase p is equal to long green light time g (i, p, k)
The sum of with green interval duration.Phase 1 and phase 5 are used as in above-mentioned formula and calculate starting point, 2 green light start time t of phase (i,
2, k) the duration v (i, 1, k) of phase 1 is added equal to the green light start time t (i, 1, k) of phase 1.
Step 22: each phase long green light time need to meet maximum long green light time gmax, minimum long green light time gminConstraint, such as formula
(15) shown in.
gmin≤g≤gmax (15)
In the present invention, step 3 traffic behavior different according to each phase establishes two kinds of Controlling models of red light and green light, and
Theoretical speed is calculated to include the following steps:
Step 31: vehicle request phase be amber light or red light, though or be green light, queuing do not dissipate yet, in this case
The model of foundation is " red light Controlling model ".Its strategy is utmostly regulation speed, makes vehicle driving to when being lined up tail of the queue, opens
Dynamic wave is just transferred to tail of the queue, i.e. tail of the queue vehicle just starts to start, and vehicle follows queuing tail of the queue vehicle to pass through intersection.
Reference point is controlled by speed of maximum queue length.Its theoretical speed is calculated as shown in formula (16):
In formula: molecule indicates that vehicle subtracts the occupied path space of vehicle of front, denominator table at a distance from stop line
Show last vehicle of queuing vehicle due to long apart from the time of present moment at the time of green light signals start to advance.；VtFor reason
By speed；Ld(i, p, j) indicates vehicle j to the distance of intersection；LsThe length of wagon of (i, p, j) expression vehicle j；VsExpression is opened
Dynamic (dissipation) wave propagates velocity of wave；tnIndicate current time.
Step 32: requesting phase when vehicle is green light, and is lined up and has dissipated, and the model established in this case is known as
" green light Controlling model ".Its strategy improves speed and passes through in current period, or using reduction speed utmostly to control vehicle
The phase passes through in next week, makes vehicle is not parking to pass through intersection.It has dissipated because being lined up at this time, the reference point of speed control is to stop
Fare.Its theoretical speed is calculated as shown in formula (17):
In formula: VaThe average speed of operation of (i, p, j) expression vehicle j.φ (i, p, j, k) is binary variable (0-1 variable),
Indicate whether intersection i phase p vehicle j passes through k-th of period.Wherein φ (i, p, j, k)=1 indicates vehicle j at k-th
Period passes through.φ (i, p, j, k)=0, expression do not pass through k-th of period.The vehicle of entrance driveway or pass through friendship in this period
Prong or in next week phase pass through, and meet the constraint of formula (18).
φ (i, p, j, k)+φ (i, p, j, k+1)=1 (18)
In the present invention, step 4 calculates actual vehicle speed, vehicle arrival time according to theoretical speed, in conjunction with speed constraint condition
Method, include the following steps:
Step 41: calculating to obtain vehicle velocity VtIllustrate that the vehicle is being waited in line when=0.VtSpeed need to meet highest vehicle when ≠ 0
Fast VmaxWith minimum vehicle velocity VminConstraint.
If Vmin< Vt< Vmax, then actual vehicle speed Vg(i, p, j)=Vt(i, p, j) illustrates that vehicle can be close with dream car quick access
Intersection does not suffer from parking.Under green light Controlling model, vehicle or the vehicle of front is followed in this period remaining green time
The green light of phase is by (reference can be made to Fig. 4) by intersection or in next week, by formula (19) at the time of passing through stop line.?
Under red light Controlling model, the arrival maximum queue length moment T (i, p, j) of vehicle is such as shown in formula (20).
Step 42: working as Vt(i, p, j) >=Vmax, then actual vehicle speed Vg(i, p, j)=Vmax, illustrate that current vehicle is limited with highest
Speed operation, does not need to stop, and the arrival time T (i, p, j) of vehicle is such as shown in formula (21).
T (i, p, j)=tn+Ld(i, p, j)/Vmax (21)
Step 43: as 0 < Vt(i, p, j)≤VminWhen, then Vg(i, p, j)=Vmin, illustrate that current vehicle is transported with minimum speed limit
Row, can also undergo parking waiting, and T (i, p, j) is calculated by formula (20) (22) respectively under red light and green light Controlling model.
In the present invention, step 5 calculates total delay according to delay prediction model, mainly includes three aspects: 1. due to vehicle
The Controlled drug-release that velocity variations caused by speed controls generate；2. causing to be lined up delay since queuing vehicle takes up space；3. by
Signal is delayed caused by signal is non-green light.Calculating includes the following steps:
Step 51: the Controlled drug-release under green light and red light model uses formula (23), (24) to calculate respectively.
dc(i, p, j)=Ld(i, p, j)/Vg(i, p, j)-Ld(i, p, j)/Va(i, p, j) (23)
Step 52: if Vg(i, p, j)=Vt(i, p, j) or Vg(i, p, j)=Vmax, vehicle can pass through intersection
Without stopping, then being lined up delay and signal delay is zero.If Vg(i, p, j)=Vmin, it is lined up delay dq(i, p, j) is by public affairs
Formula (25) calculates, and under red light and green light model, signal delay is calculated by formula (26), (27) respectively, referring to Fig. 5.
Step 53: total delay is calculated by formula (28).
D (i, p, j)=dc(i, p, j)+dq(i, p, j)+ds(i, p, j) (28)
In the present invention, step 6 determines best speed, the green light time started, green according to the smallest objective function of total delay value
The lamp duration, comprising the following steps:
Step 61: according to the objective function of formula (29) and constraint condition (1)-(28), optimization obtains each vehicle in intersection
Best speed, best green light open bright moment and green light duration.
The present invention uses the optimization method of receding horizon, when according to the arrival of vehicle location and speed dynamic control vehicle
It carves, and then calculates intersection total delay, optimize signal timing dial parameter.The method of receding horizon is as shown in Figure 6.
The utility model has the advantages that compared with prior art, the present invention having the following advantages that.
The present invention is established under automatic Pilot environment with the minimum target of intersection total delay, is based on vehicle and control system
The double-direction control model for optimizing vehicle speed and signal timing dial parameter while two-way communication, speed is made simultaneously with timing parameter
To control variable, while the output parameter as control program is most preferably arrived using receding horizon dynamic optimization in optimization
Up to after the moment, control vehicle reaches intersection in this best time.It realizes and optimizes vehicle arrival simultaneously and signal timing dial and intersect
The mouth maximum target of on-road efficiency.Overcome needed in existing intersection signal control method previously known vehicle reach and as
The input and signal timing dial passive adaptation vehicle that optimize signal timing dial reach the unidirectionally controlled deficiency of variation.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 is the research object schematic diagram of the method for the present invention；
Fig. 3 is that signal controls phase phase sequence figure；
Fig. 4 is that green light controls space-time trajectory figure；
Fig. 5 is to be lined up delay and signal delay schematic diagram；
Fig. 6 is receding horizon optimization method schematic diagram.
Specific embodiment
In conjunction with the accompanying drawings and embodiments, to technical solution of the present invention, detailed description are as follows:
Example: selecting a Typical Urban intersection is research object, and the present invention selects the domestic latitude two in Jinan City, Shandong Province
Road-is the research object invented through simple intersection.
Under automatic Pilot environment, the real time position for reaching vehicle can be known at any time, embodiment is with the first week
1 green light of phase of phase plays the bright moment as current time tn, the specific location such as table 1 of each phase automatic driving vehicle is generated at random
It is shown:
The distance of each phase automatic driving vehicle ion-exchange prong of table 1
According to the regulation of highway layout speed at different levels in urban road engineering design specification (CJJ37-2016), due to choosing
Intersection based on-main crossings mouth, then minimum speed limit V is setmin=20km/h=5.56m/s, Maximum speed limit Vmax=60km/h
=16.67m/s.The average speed V of vehicle j (j=1......n) is seta=40km/h=11.12m/s starts (dissipation) wave
Propagate velocity of wave Vs=22km/h=6.12m/s, automobile body average length Ls=5m includes saturation space headway.
It is calculated for a vehicle firstly, choosing in 1,2,3,4 four phase respectively, is L respectivelyd(1,1,6)=121m, Ld
(1,2,6)=147m, Ld(1,3,7)=179m, Ld(Isosorbide-5-Nitrae, 8)=269m.The duration of phase 1,2,3,4 be respectively v (1,
1,1), v (1,2,1), v (1,3,1), v (Isosorbide-5-Nitrae, 1).Due to using 1 green light of phase of a cycle rise the bright moment as it is current when
It carves, then (1,1,1)=0 t.According to formula in step 2 (3), (5), (9), t (1,2,1)=v (1,1,1), t (1,3,1)=v (1,
1,1) (1,2,1)+v, t (Isosorbide-5-Nitrae, 1)=v (1,1,1) (1,2,1+v (1,3,1)+v.
Phase 1 is green light, is computed and is queued in 3.8s dissipation, and the 6th vehicle meets the condition of green light Controlling model.According to
Formula (17) calculates theoretical vehicle velocity V in step 32t(1,1,6)=44.85m/s=161.46km/h, according to 20km/h≤Vt≤
60km/h, then actual vehicle speed Vg(1,1,6)=60km/h, according to formula (19) calculate vehicle reach stop line at the time of T (1,1,
6)=7.25s.D is calculated to obtain according to step 5q(1,1,6)=ds(1,1,6)=dc(1,1,6)=0.
The vehicle of phase 2,3,4 is all satisfied the condition of red light Controlling model, according to formula (16) computational theory of step 31
Speed is respectively Vt(1,2,6)=122/ [v (1,1,1)+4.0849], Vt(1,3,7)=149/ [v (1,1,1)+v (1,2,1)+
4.902], Vt(Isosorbide-5-Nitrae, 8)=149/ [v (1,1,1)+v (1,2,1)+v (1,3,1)+5.72].It is most short that green light duration is set
For 10s, up to 30s, i.e. 10s≤g (i, p, k)≤30s, complete red time 2s, yellow time 3s, then 15s≤v (i, p,
k)≤35s。
According to Vt(1,2,6)=122/ [v (1,1,1)+4.0849] and 15s≤v (1,1,1)≤35s, can be calculated: phase
The theoretical speed of the 6th vehicle is 3.12m/s≤V in position 2t(1,2,6)≤6.39m/s.
1. as 15s≤v (1,1,1)≤17.85s, 3.12m/s≤Vt(1,2,6)≤5.56m/s, can according to step 43
Obtain actual vehicle speed Vg(1,2,6)=5.56m/s.Controlled drug-release d is calculated to obtain according to the formula (24) of step 51c(1,2,6)=
10.97s calculates to be lined up delay d according to the formula (25) (26) of step 52q(1,2,6)=4.0849s, signal are delayed ds(1,
2,6)=v (1,1,1) -21.94；2. as 17.85s < v (1,1,1)≤35s, 5.56m/s < Vt(1,2,6)≤6.39m/s,
Actual vehicle speed V can be obtained according to step 41g(1,2,6)=Vt(1,2,6).The arrival time T of the vehicle is calculated according to formula (20)
(1,2,6)=v (1,1,1)+6.34s.Controlled drug-release d is calculated to obtain according to the formula (24) of step 51c(1,2,6)=v (1,1,
1) -6.89s calculates to obtain d according to step 52q(1,2,6)=ds(1,2,6)=0.
According to Vt(1,3,7)=149/ [v (1,1,1)+v (1,2,1)+4.902], 15s≤v (1,1,1)≤35s and 15s
≤ v (1,2,1)≤35s can be calculated: the theoretical speed of the 7th vehicle is 3.73m/s≤V in phase 3t(1,3,7)≤4.27m/
S obtains actual vehicle speed V according to step 43g(1,3,7)=5.56m/s, arrival time T (1,3,7)=v (1,1,1)+v of vehicle
(1,2,1)+7.6s.D is calculated to obtain according to step 51 formula (24)c(1,3,7)=4.9s calculates to obtain d according to step 52q(1,3,7)
=13.4s, signal are delayed ds(1,3,7)=v (1,1,1)+v (1,2,1) -26.8.
Similarly in phase 4 the 8th vehicle theoretical speed 1.35m/s≤Vt(Isosorbide-5-Nitrae, 8)≤2.94m/s, then actual vehicle speed Vg
(Isosorbide-5-Nitrae, 8)=5.56m/s, arrival time T (Isosorbide-5-Nitrae, 8)=v (1,1,1)+v (1,2,1)+v (1,3,1)+8.87s of vehicle.Meter
Calculating to be delayed is d respectivelyq(Isosorbide-5-Nitrae, 8)=5.72s, ds(Isosorbide-5-Nitrae, 8)=v (1,1,1)+v (1,2,1)+v (1,3,1) -42.1s, dc
(Isosorbide-5-Nitrae, 8)=21.04s.
Secondly, successively calculating according to above-mentioned calculating process the vehicle in table 1.Always prolong according in step 61 formula
Accidentally the smallest objective function, each phase duration of selection be respectively v (1,1,1)=23s, v (1,2,1)=21s, v (1,3,
1)=21s, v (Isosorbide-5-Nitrae, 1)=21s, total delay is 1156.598s at this time.The green light start time of phase 1,2,3,4 is successively t
(1,1,1)=0s, t (1,2,1)=23s, t (1,3,1)=44s, t (Isosorbide-5-Nitrae, 1)=65s, phase green light duration is successively g
(1,1,1)=18s, g (1,2,1)=16s, g (1,3,1)=16s, g (Isosorbide-5-Nitrae, 1)=16s.
Wherein the best speed of operation of each car and arrival time are as shown in table 2:
The best speed of 2 vehicle of table and arrival intersection moment
Finally, control automatic driving vehicle, by the speed traveling in upper table, control crossing signal systems press above-mentioned green light
It opens the bright moment and green light duration executes signal time distributing conception, realize the double-direction control of speed and signal.
Claims (6)
1. speed and intersection signal bidirection control method under a kind of automatic Pilot, which is characterized in that this method includes following step
It is rapid:
Step 1: determining the magnitude of traffic flow of each phase in intersection, number of track-lines, phase phase sequence, minimum and maximum green time, highest
Speed and minimum Travel vehicle degree, traffic velocity of wave propagation etc.；
Step 2: signal control is carried out to intersection using standard twin nuclei；
Step 3: according to the different traffic behavior of each phase, establishing two kinds of Controlling models of red light and green light, and calculate theoretical speed；
Step 4: according to theoretical speed, calculating actual vehicle speed, vehicle arrival time in conjunction with speed constraint condition；
Step 5: total delay is calculated according to delay prediction model；
Step 6: according to the smallest objective function of total delay value, determining best speed, green light time started, green light duration.
2. speed and intersection signal bidirection control method, feature exist under a kind of automatic Pilot according to claim 1
In the method for carrying out signal control to intersection using standard twin nuclei in the step 2 includes the following steps:
Step 21: shown in specific steps such as formula (1)-(14) of standard twin nuclei control method:
T (i, 1,1)=0 (1)
T (i, 5,1)=0 (2)
T (i, 2, k)=t (i, 1, k)+v (i, 1, k) (3)
T (i, 6, k)=t (i, 5, k)+v (i, 5, k) (4)
T (i, 3, k)=t (i, 2, k)+v (i, 2, k) (5)
T (i, 3, k)=t (i, 6, k)+v (i, 6, k) (6)
T (i, 7, k)=t (i, 2, k)+v (i, 2, k) (7)
T (i, 7, k)=t (i, 6, k)+v (i, 6, k) (8)
T (i, 4, k)=t (i, 3, k)+v (i, 3, k) (9)
T (i, 8, k)=t (i, 7, k)+v (i, 7, k) (10)
T (i, 1, k+1)=t (i, 4, k)+v (i, 4, k) (11)
T (i, 1, k+1)=t (i, 8, k)+v (i, 8, k) (12)
T (i, 5, k+1)=t (i, 4, k)+v (i, 4, k) (13)
T (i, 5, k+1)=t (i, 8, k)+v (i, 8, k) (14)
In formula: (i, p, j) indicates intersection i phase p vehicle j；The green light in t (i, p, k) expression k-th of period of intersection i phase p
Open the bright moment；The Phase Duration in the intersection v (i, p, k) k-th of period of i phase p is equal to long green light time and green interval duration
The sum of, phase 1 and phase 5 are equal to phase as starting point, 2 green light start time t (i, 2, k) of phase is calculated in above-mentioned formula
1 green light start time t (i, 1, k) adds the duration v (i, 1, k) of phase 1,
Step 22: each phase long green light time need to meet maximum long green light time gmax, minimum long green light time gminConstraint, such as formula (15)
It is shown:
gmin≤g≤gmax (15)。
3. speed and intersection signal bidirection control method, feature exist under a kind of automatic Pilot according to claim 1
In traffic behaviors different according to each phase in the step 3 establish two kinds of Controlling models of red light and green light, and calculate reason
Include the following steps: by the calculation method of speed
Step 31: vehicle request phase be amber light or red light, though or be green light, queuing do not dissipate yet, establish in this case
Model be " red light Controlling model ", strategy is utmostly regulation speed, makes vehicle driving to when being lined up tail of the queue, starts wave
It is just transferred to tail of the queue, i.e. tail of the queue vehicle just starts to start, and vehicle follows queuing tail of the queue vehicle to pass through intersection.With most
Big queue length is that speed controls reference point, and theoretical speed is calculated as shown in formula (16):
In formula: molecule indicates that vehicle subtracts the occupied path space of vehicle of front at a distance from stop line, and denominator indicates row
Last vehicle of team's vehicle is due to long apart from the time of present moment at the time of green light signals start to advance.；VtFor theoretical vehicle
Speed；Ld(i, p, j) indicates vehicle j to the distance of intersection；LsThe length of wagon of (i, p, j) expression vehicle j；VsIndicate that starting (disappears
Dissipate) wave propagation velocity of wave；tnIndicate current time.
Step 32: requesting phase when vehicle is green light, and is lined up and has dissipated, and the model established in this case is known as " green light
Controlling model ".Its strategy improves speed and passes through in current period, or using reduction speed under utmostly to control vehicle
Period passes through, and makes vehicle is not parking to pass through intersection.It has dissipated because being lined up at this time, the reference point of speed control is parking
Line, theoretical speed are calculated as shown in formula (17):
In formula: VaThe average speed of operation of (i, p, j) expression vehicle j.φ (i, p, j, k) is binary variable (0-1 variable), is indicated
Whether intersection i phase p vehicle j passes through k-th of period.Wherein φ (i, p, j, k)=1 indicates vehicle j k-th of period
Pass through.φ (i, p, j, k)=0, expression do not pass through k-th of period, the vehicle of entrance driveway otherwise in this period by intersection,
The phase passes through in next week, meets the constraint of formula (18):
φ (i, p, j, k)+φ (i, p, j, k+1)=1 (18).
4. speed and intersection signal bidirection control method, feature exist under a kind of automatic Pilot according to claim 1
According to theoretical speed in the step 4, in conjunction with speed constraint condition calculating actual vehicle speed, the calculating side of vehicle arrival time
Method includes the following steps:
Step 41: calculating to obtain vehicle velocity VtWhen=0, illustrate that the vehicle is being waited in line, VtSpeed need to meet max. speed when ≠ 0
VmaxWith minimum vehicle velocity VminConstraint.
If Vmin< Vt< Vmax, then actual vehicle speed Vg(i, p, j)=Vt(i, p, j) illustrates that vehicle can be pitched with dream car quick access inbreeding
Mouthful, do not suffer from parking.Under green light Controlling model, vehicle or follow the vehicle of front logical in this period remaining green time
It crosses intersection or the green light of phase passes through in next week, by formula (19) at the time of passing through stop line, under red light Controlling model,
The arrival maximum queue length moment T (i, p, j) of vehicle is such as shown in formula (20):
Step 42: working as Vt(i, p, j) >=Vmax, then actual vehicle speed Vg(i, p, j)=Vmax, illustrate that current vehicle is transported with Maximum speed limit
Row, does not need to stop, and the arrival time T (i, p, j) of vehicle is such as shown in formula (21):
T (i, p, j)=tn+Ld(i, p, j)/Vmax (21)
Step 43: as 0 < Vt(i, p, j)≤VminWhen, then Vg(i, p, j)=Vmin, illustrate current vehicle with minimum limiting operation,
Also parking waiting can be undergone, T (i, p, j) is calculated by formula (20) (22) respectively under red light and green light Controlling model:
。
5. speed and intersection signal bidirection control method, feature exist under a kind of automatic Pilot according to claim 1
In, in the step 5 according to delay prediction model calculate total delay calculation method include the following steps:
Step 51: the Controlled drug-release under green light model is calculated using formula (23), and the Controlled drug-release under red light model uses formula
(24) it calculates:
dc(i, p, j)=Ld(i, p, j)/Vg(i, p, j)-Ld(i, p, j)/Va(i, p, j) (23)
Step 52: if Vg(i, p, j)=Vt(i, p, j) or Vg(i, p, j)=Vmax, vehicle can pass through intersection without
It needs to stop, then being lined up delay and signal delay is zero, if Vg(i, p, j)=Vmin, it is lined up delay dq(i, p, j) is by formula
(25) it calculates, under red light and green light model, signal delay is calculated by formula (26), (27) respectively:
Step 53: total delay is calculated by formula (28).
D (i, p, j)=dc(i, p, j)+dq(i, p, j)+ds(i, p, j) (28).
6. speed and intersection signal bidirection control method, feature exist under a kind of automatic Pilot according to claim 1
According to the smallest objective function of total delay value in the step 6, when determining that best speed, green light time started, green light continue
Between calculation method include the following steps:
Step 61: according to the objective function of formula (29) and constraint condition (1)-(28), optimization obtains the best of each vehicle in intersection
Speed, best green light open bright moment and green light duration:
。
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