CN111667700A - Intersection variable lane control method based on short-term traffic state prediction - Google Patents
Intersection variable lane control method based on short-term traffic state prediction Download PDFInfo
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention provides an intersection variable lane control method based on short-time traffic state prediction, which comprises the following steps: obtaining the adjacent relation of the intersections through an electronic map; obtaining the influx ratio of each intersection in each monitoring time period according to historical statistical data; counting the current traffic flow of each intersection; taking a single intersection as a monitoring object, and obtaining the traffic flow to be merged of the monitoring object according to the current traffic flow and the merging ratio of the adjacent intersections of the monitoring object; obtaining the retention of the monitored object in the current control period according to the current signal lamp phase and the influx ratio of the monitored object; and evaluating the blocking risk of the monitored object according to the retention and the traffic flow to be imported, and adjusting the phase of the signal lamp according to the current traffic flow and the import ratio in each circulation direction for the monitored object with the blocking risk. The invention realizes the lowest blocking risk at the intersection and is beneficial to ensuring the smooth traffic.
Description
Technical Field
The invention relates to the technical field of traffic control, in particular to a control method for a variable lane at a crossing based on short-time traffic state prediction.
Background
The prior art is limited by cost, only partial intersections of a main urban area in the current urban road network are generally controlled in a centralized manner by a large traffic signal control system, and most of the rest intersections are still controlled in an independent manner.
This technique has the following disadvantages: (1) the technology cannot carry out optimization control on isolated intersections; (2) the overall transportation efficiency of the road network is low; (3) the utilization rate of the road intersection is low;
there is great problem in current urban traffic network, in early morning and evening, staff's office worker and student etc. need take vehicles such as car, the gathering meeting of short time will cause crowded and unable problem of circulating, and can make the road go unevenly in the driving process, make some road crowded unable to walk, some road lacks the condition of alone, the serious trip that has influenced people, a large amount of time has been wasted, work's progress has been delayed, the problem of serious work burden and economic loss has been brought for traffic police simultaneously.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides
The invention provides an intersection variable lane control method based on short-time traffic state prediction, which comprises the following steps:
s1, obtaining the adjacent relation of the intersections through an electronic map;
s2, obtaining the influx ratio of each intersection in each monitoring time period according to historical statistical data, wherein the influx ratio is the ratio of vehicles flowing from an upstream road section to a downstream road section to all vehicles in the upstream road section between two adjacent road sections taking the intersection as the center;
s3, counting the current traffic flow of each intersection, wherein the current traffic flow of each intersection is the total number of vehicles which are positioned between the intersection and the adjacent intersection and take the intersection as a downstream target;
s4, taking a single intersection as a monitoring object, and obtaining the traffic flow to be merged of the monitoring object according to the current traffic flow and the merging ratio of the adjacent intersections of the monitoring object;
s5, obtaining the retention of the monitored object in the current control period according to the current signal lamp phase and the influx ratio of the monitored object; the retention amount is the total number of vehicles retained on the original road section after the current control period is finished;
and S6, evaluating the jam risk of the monitored object according to the hold up and the traffic flow to be imported, and adjusting the phase of the signal lamp according to the current traffic flow and the import ratio in each circulation direction for the monitored object with the jam risk.
Preferably, the monitoring period is divided into: peak, peak plateau and trough periods; and the monitoring time period is divided according to traffic flow.
Preferably, step S5 specifically includes:
according to the signal lamp phase, obtaining the maximum passing number in each flow turning direction in a single control period by taking a monitoring object as a downstream target;
calculating the actual traffic quantity in each flow direction in a single control period according to the current traffic flow of the monitored object and the influx ratio in each flow direction;
and according to the maximum traffic quantity and the actual traffic quantity in each flow direction, counting the retention of the monitored object in the current control period.
Preferably, the calculation formula of the retention in the current control period of the monitored object is as follows:
wherein, NumiThe actual passing number of the ith circulation direction in the current traffic flow in the monitoring period is equal to the product of the number of vehicles on the upstream road section of the ith circulation direction and the convergence ratio of the ith circulation direction;
the maximum traffic quantity of the ith flow direction in the current traffic flow in the monitoring period is obtained.
Preferably, the maximum traffic number of the monitoring object in each flow direction in a single control period is as follows:
v is a preset intersection vehicle speed, tti is the sum of all phase time passing in the running circulation direction i, and f is a preset constant value.
Preferably, f is the control period/signal lamp duty cycle.
Preferably, step S6 specifically includes the following sub-steps:
s61, calculating a retention prediction value of the monitored object in the next control period;
s62, judging whether the retention prediction value is larger than a preset risk threshold value; if not, maintaining the current signal lamp strategy;
and S63, if yes, adjusting the phase of the signal lamp according to the current traffic flow and the influx ratio of the monitoring object to each adjacent intersection.
Preferably, step S63 specifically includes: calculating the actual traffic quantity in each output direction in a single control period according to the current traffic flow of the monitored object and the influx ratio in each output direction; and the phase of the signal lamp is adjusted according to the ratio of the actual passing quantity.
Preferably, in step S61, the estimated retention value is calculated by the following formula:
O'retention＝O'+ORetention-(O-ORetention)＝O'-O+2ORetention；
Wherein, O'RetentionFor the retention prediction value, O' is the traffic flow to be merged of the monitored object.
Wherein, O'RetentionFor the retention prediction value, O' is the traffic flow to be merged of the monitored object.
Preferably, the risk threshold is greater than 1 and less than or equal to 5.
The intersection variable lane control method based on the short-time traffic state prediction provided by the invention is used for carrying out real-time judgment and accurate prediction on the traffic condition of the intersection based on implementation data, so that the traffic jam risk prediction under the current signal lamp control strategy is realized.
According to the invention, based on the traffic network and the intersection adjacent relation as basic data, the independent analysis of the traffic state of a single intersection is realized, the operation complexity is reduced, and the control efficiency is improved.
According to the invention, the jam risk judgment and the signal lamp phase adjustment are carried out according to the vehicle circulation conditions in all the running directions at the intersection, so that the lowest jam risk at the intersection is realized, and the smooth traffic is favorably ensured.
Drawings
FIG. 1 is a flow chart of an intersection variable lane control method based on short-term traffic state prediction according to the present invention;
fig. 2 is a schematic diagram of signal lamp phases and traffic directions at a intersection in embodiment 1;
FIG. 3 is a schematic view of the passing direction in phase 1 in embodiment 4;
FIG. 4 is a schematic view of the passing direction in phase 2 in embodiment 4;
FIG. 5 is a schematic view of the passing direction in phase 3 in embodiment 4;
fig. 6 is a schematic view of the passing direction in phase 4 in embodiment 4.
Detailed Description
Referring to fig. 1, the invention provides an intersection variable lane control method based on short-time traffic state prediction, which comprises the following steps.
And S1, obtaining the intersection adjacent relation through the electronic map.
And S2, obtaining the influx ratio of each intersection in each monitoring time period according to the historical statistical data. Specifically, the merge ratio is a ratio of all vehicles in an upstream road section between two adjacent road sections with an intersection as a center, wherein the vehicles flowing from the upstream road section to the downstream road section occupy the upstream road section.
In this embodiment, the monitoring time period includes: peak, peak plateau and trough periods; and the monitoring time period is divided according to the traffic flow. For example, taking a day's division as an example, the commute time period may be set to a peak period, the time other than the commute time period between 6:00 a.m. and 23:00 a.m. may be set to a flat peak period, and the time between 23:00 a.m. and 6:00 a.m. may be set to a valley period.
And S3, counting the current traffic flow of each intersection, wherein the current traffic flow of each intersection is the total number of vehicles which are positioned between the intersection and the adjacent intersection and take the intersection as a downstream target. Specifically, the current traffic flow can be counted in real time according to the traffic monitoring image.
And S4, taking a single intersection as a monitoring object, and obtaining the traffic flow to be merged of the monitoring object according to the current traffic flow and the merging ratio of the adjacent intersections of the monitoring object.
And S5, obtaining the retention of the monitored object in the current control period according to the current signal lamp phase of the monitored object. The reserved quantity is the total number of vehicles which are reserved on the original road section after the current control period is finished.
And S6, evaluating the jam risk of the monitored object according to the hold up and the traffic flow to be imported, and adjusting the phase of the signal lamp according to the current traffic flow and the import ratio in each circulation direction for the monitored object with the jam risk.
Example 1
The present embodiment explains a method of calculating a retention amount of a monitoring target.
Specifically, if the number of adjacent intersections of the monitored object is n and the connection sections of the monitored object are all bidirectional roads, the vehicle turning direction at the intersection is n (n-1), that is, n (n-1) entry ratios are associated with the monitored object.
Then, in the current control period, the hold up of the monitored object is:
wherein, NumiFor monitoring the actual traffic quantity of the ith flow direction in the current traffic flow in the period, specifically, NumiIs the product of the number of vehicles on the upstream link in the ith flow direction and the influx ratio in the ith flow direction.
The maximum traffic quantity of the ith flow direction in the current traffic flow in the monitoring period is obtained.
Taking the intersection shown in fig. 2 as an example of the monitoring object.
The number of vehicles on three upstream road sections of the three-way intersection is respectively as follows: a. b and c. Six vehicle circulation directions are arranged at the three-fork intersection and are marked as 1-6.
The signal lamp at the three-fork intersection has three phases, and in the first phase, the signal lamp allows 1, 2 and 4 vehicles to pass in the circulation direction; in the second phase, allowing 2, 3 and 5 vehicles to pass in the circulation direction; and in the third phase, 1, 3 and 6 vehicle circulation directions are allowed to pass.
Thus, in the current monitoring period, the actual traffic quantity of each circulation direction is listed as follows:
Num1＝a×R1；Num6＝a×R6
Num2＝b×R2；Num4＝b×R4
Num3＝c×R3；Num5＝c×R5
and, R1+R6＝R2+R4＝R3+R5＝1。
In the current monitoring period, the maximum traffic number in each flow direction is listed as follows:
wherein f is a preset threshold, specifically, f is a control period/signal lamp working period.
Example 2
In this embodiment, the phase of the signal lamp is adjusted by the following steps, specifically, compared to embodiment 1. :
and S61, calculating a retention prediction value of the monitoring object in the next control period.
Specifically, the calculation formula of the retention prediction value is as follows:
O'retention＝O'+ORetention-(O-ORetention)＝O'-O+2ORetention；
Wherein, O'RetentionFor the retention prediction value, O' is the traffic flow to be merged of the monitored object.
S62, judging whether the retention prediction value is larger than a preset risk threshold value; otherwise, the current signal lamp strategy is maintained. Specifically, the risk threshold is greater than 1 and less than or equal to 5.
And S63, if yes, adjusting the signal lamp phase according to the current traffic flow and the influx ratio in each circulation direction.
Example 3
In the present embodiment, in contrast to embodiment 2, in step S63, the traffic light phase is assigned with the time period according to the time required for the vehicle to completely pass in each circulation direction.
Take the intersection in example 1 as an example.
In this embodiment, since the vehicle flow directions 1, 2, and 3 can all pass through two traffic light phases, the time period of each traffic light phase can be regarded as two parts, which are the time required for the flow direction that can pass through only the phase and the time required for the flow direction that can pass through the phase.
In this embodiment, when the phase of the signal lamp is adjusted, the redistribution time lengths of the three phases are set as follows: t1', T2' and T3', and T1': T2': T3' ═ B1: B2: B3, T1' + T2' + T3' ═ T, T is the signal lamp duty cycle.
B1, B2, B3 can be calculated according to the following formula:
wherein ta4' is the time required by the vehicle to pass completely in the turning direction 4, ta5' is the time required by the vehicle to pass completely in the turning direction 5, and ta6' is the time required by the vehicle to pass completely in the turning direction 6;
example 4
In this embodiment, the present invention is further explained with reference to specific application scenarios.
Specifically, in this embodiment, the intersection shown in fig. 3 is taken as an example. The current control strategy of the signal lamp is as follows:
each phase represents a green light passing direction of the intersection, the phase postfix time represents duration, T is T1+ T2+ T3+ T4, and T represents a signal light period.
Specifically, in the present embodiment, the intersection 0 is used as a monitoring target, and the monitoring target includes four adjacent intersections 1, 2, 3, and 4.
In this embodiment, according to the monitoring image of the traffic monitoring system, the current traffic flow of the monitored object at the current time is obtained as follows:
O＝Num1→0+Num2→0+Num3→0+Num4→0；
wherein, Numi→0The number of vehicles which are on the road section between the intersection i and the monitored object and move towards the monitored object 0 is represented, and i is more than or equal to 1 and less than or equal to 4.
In this embodiment, 4 phases are set for the signal lamp at the position of the monitored object in combination with the traffic law, as shown in fig. 3 to 6, respectively, and the passing directions and the passing numbers controlled by the various phases are shown in table 1 below.
Table 1: signal lamp working parameter table
In Table 1 above, Numi→0Indicating the number of vehicles, R, traveling toward the monitoring object 0 on the road section between the adjacent intersection i and the monitoring object 0i→jRepresents a proportion of vehicles on a road section between the adjacent intersection i and the monitored object 0, i ≠ j, and
and n is the number of adjacent intersections of the monitored object.
According to the vehicles on each road section and the influx ratio, the traffic flow to be imported, which is obtained from the monitoring object 0 at the intersections 1, 2, 3 and 4, is respectively as follows:
P0'→1＝Num2→0×R2→1+Num3→0×R3→1+Num4→0×R4→1
P0'→2＝Num1→0×R1→2+Num3→0×R3→2+Num4→0×R4→2
P0'→3＝Num1→0×R1→3+Num2→0×R2→3+Num4→0×R4→3
P0'→4＝Num1→0×R1→4+Num2→0×R2→4+Num3→0×R3→4
according to the method, the traffic flow O' to be imported of the monitored object 0 can be obtained by combining the collected data at the adjacent intersections.
At the same time, P0'→1、P0'→2、P0'→3、P0'→4And the actual passing number of the monitored objects to different adjacent intersections in the current control period.
Meanwhile, in this embodiment, assuming that the intersection at the monitored object 0 has a vehicle speed v, the output statistics of the monitored object to different adjacent intersections in the current control period can be obtained as shown in table 2 below.
Table 2: output statistical table for monitoring object to different adjacent intersections in current control period
In the above table, f is a predetermined constant for balancing the difference between the control period and the signal period. The setting principle of the constant f is as follows: the sum of the actual traffic numbers in table 2 above is approximately equal to the sum of the maximum traffic numbers. In specific implementation, different constants f can be set according to different monitoring time periods, so that the constants can be directly called during calculation.
In this embodiment, the hold up of the monitoring object in the current control period is:
at this time, the retention ORetentionCompared with a preset blockage risk value e if ORetentionIf the traffic flow is more than e, the blocking risk is further judged according to the traffic flow O' to be merged.
Specifically, when O' + ORetention-(O-ORetention) And if the current value is more than e, judging that the blockage risk exists, and adjusting the signal lamp control strategy at the moment. Specifically, assuming that the time periods of the phases after the signal lamp adjustment are t1', t2', t3 'and t4', the proportional relationship is: t1': t2': t3': t 4': a1: a2: A3: a 4;
specifically, max (a1, a2, a3 … an), represents the maximum value among the data items a1, a2, a3 … an.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (10)
1. An intersection variable lane control method based on short-time traffic state prediction is characterized by comprising the following steps:
s1, obtaining the adjacent relation of the intersections through an electronic map;
s2, obtaining the influx ratio of each intersection in each monitoring time period according to historical statistical data, wherein the influx ratio is the ratio of all vehicles in an upstream road section between two adjacent road sections taking the intersection as the center, and the vehicles flowing from the upstream road section to the downstream road section;
s3, counting the current traffic flow of each intersection, wherein the current traffic flow of each intersection is the total number of vehicles which are positioned between the intersection and the adjacent intersection and take the intersection as a downstream target;
s4, taking a single intersection as a monitoring object, and obtaining the traffic flow to be merged of the monitoring object according to the current traffic flow and the merging ratio of the adjacent intersections of the monitoring object;
s5, obtaining the retention of the monitored object in the current control period according to the current signal lamp phase and the influx ratio of the monitored object; the retention amount is the total number of vehicles retained on the original road section after the current control period is finished;
and S6, evaluating the jam risk of the monitored object according to the hold up and the traffic flow to be imported, and adjusting the phase of the signal lamp according to the current traffic flow and the import ratio in each circulation direction for the monitored object with the jam risk.
2. The intersection variable lane control method based on short-term traffic state prediction according to claim 1, characterized in that the monitoring time period is divided into: peak, peak plateau and trough periods; and the monitoring time period is divided according to the traffic flow.
3. The intersection variable lane control method based on short-term traffic state prediction according to claim 1, wherein the step S5 is specifically:
according to the signal lamp phase, obtaining the maximum passing number in each flow turning direction in a single control period by taking a monitoring object as a downstream target;
calculating the actual traffic quantity in each circulation direction in a single control period according to the current traffic flow of the monitored object and the influx ratio in each circulation direction;
and according to the maximum traffic quantity and the actual traffic quantity in each flow direction, counting the retention of the monitored object in the current control period.
4. The intersection variable lane control method based on short-term traffic state prediction according to claim 3, characterized in that a retention calculation formula of a monitoring object in a current control cycle is as follows:
wherein, NumiThe actual passing number of the ith circulation direction in the current traffic flow in the monitoring period is equal to the product of the number of vehicles on the upstream road section of the ith circulation direction and the convergence ratio of the ith circulation direction;
the maximum traffic quantity of the ith flow direction in the current traffic flow in the monitoring period is obtained.
5. The intersection variable lane control method based on short-term traffic state prediction according to claim 4, wherein the maximum traffic number of the monitoring object in each traffic direction in a single control period is as follows:
v is a preset intersection vehicle speed, tti is the sum of all phase time passing in the running circulation direction i, and f is a preset constant value.
6. The intersection variable lane control method based on short-term traffic state prediction according to claim 5, characterized in that f is control period/signal lamp duty period.
7. The intersection variable lane control method based on short-term traffic state prediction according to claim 5, wherein the step S6 specifically comprises the following sub-steps:
s61, calculating a retention prediction value of the monitored object in the next control period;
s62, judging whether the retention prediction value is larger than a preset risk threshold value; if not, maintaining the current signal lamp strategy;
and S63, if yes, adjusting the phase of the signal lamp according to the current traffic flow and the merging ratio of the monitoring object to each adjacent intersection.
8. The intersection variable lane control method based on short-term traffic state prediction according to claim 7, wherein the step S63 is specifically: calculating the actual traffic quantity in each output direction in a single control period according to the current traffic flow of the monitored object and the influx ratio in each output direction; and the phase of the signal lamp is adjusted according to the ratio of the actual passing quantity.
9. The intersection variable lane control method based on short-term traffic state prediction according to claim 7, wherein in step S61, the calculation formula of the retention prediction value is:
O'retention＝O'+ORetention-(O-ORetention)＝O'-O+2ORetention；
Wherein, O'RetentionFor the retention prediction value, O' is the traffic flow to be merged of the monitored object.
Wherein, O'RetentionFor the retention prediction value, O' is the traffic flow to be merged of the monitored object.
10. The intersection variable lane control method based on transient traffic state prediction as claimed in claim 7, wherein the risk threshold is greater than 1 and less than or equal to 5.
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Application publication date: 20200915 |