CN111951571B - System and method for dredging congested vehicles on road section under traffic accident - Google Patents
System and method for dredging congested vehicles on road section under traffic accident Download PDFInfo
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Abstract
The invention provides a system and a method for dredging congested vehicles on road sections under traffic accidents, wherein the dredging system comprises a road test unit, a parameter coordination configuration unit and a signal optimization coordination control unit, the road test unit transmits the vehicle data of the road sections with traffic accidents and the road sections with traffic accidents to the parameter coordination configuration unit, and the parameter coordination configuration unit establishes a road section traffic flow prediction model; and establishing a model with an objective function as the minimum road section running time and a performance index equation by using the traffic flow prediction model, and calculating the green time of each phase of the downstream intersection so as to determine the traffic light time of the mobile signal light and the traffic light time of each phase of the upstream and downstream intersections, and leading the vehicles according to the traffic light time of the signal light. According to the invention, the lane change of the vehicle and the coordination control of the adjacent intersection signal lamps are utilized, so that the congestion of the vehicle at the accident occurrence point is reduced, and the traffic efficiency of the vehicle in the whole road section is improved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic dispersion control of urban roads, in particular to a system and a method for dispersing congested vehicles on road sections under traffic accidents.
Background
The traffic accidents of urban roads cause the road sections to be blocked, and even the road network of the whole city is paralyzed frequently. In addition, traffic problems caused by congestion are becoming more serious, for example, excessive vehicle oil consumption caused by too many parking times and large amount of polluted air discharged from vehicle exhaust. In the existing research on congestion vehicle evacuation, the problem of traffic accident evacuation is mainly that the research on coordinated control of vehicle lane changing and adjacent intersection signal lamps is lacked through traffic guidance and signal lamp control.
Chinese patent (CN105631793B) discloses an intelligent dredging method for autonomous cooperative scheduling of vehicle groups in traffic jam, which establishes an optimization index of a cooperative scheduling algorithm and the traffic efficiency of the vehicle groups according to a vehicle following model, provides a vehicle queuing position and estimated traffic time for a driver, and guides the driver to select proper speed and direction; however, the method only considers the cooperation between the intelligent vehicles, does not consider the cooperation dispersion between the common vehicle and the intelligent vehicle, and is not suitable for the dispersion of the hybrid vehicle in practice, so that the method is difficult to popularize. Chinese patent (CN109537489A) discloses a traffic stream dredging system and a control method thereof for traffic accidents, the method has multiple control functions, avoids the waste of time caused by different numbers of vehicles on different roads, and improves the convenience of road dredging; however, the actual traffic flow is not considered, the system is insensitive, the traffic flow is disordered secondarily, and the system does not consider the coordination control with the signal lamps of adjacent intersections.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a system and a method for dredging vehicles jammed in a road section under a traffic accident, which utilize the coordinated control of vehicle lane changing and adjacent intersection signal lamps to reduce the jam of the vehicles at the accident point and improve the traffic efficiency of the vehicles in the whole road section.
The present invention achieves the above-described object by the following technical means.
A road section vehicle congestion evacuation system under a traffic accident comprises a road test unit, a parameter coordination configuration unit and a signal optimization coordination control unit, wherein the road test unit transmits vehicle data of a road section where the traffic accident occurs and a road section where the traffic accident occurs to the parameter coordination configuration unit, the parameter coordination configuration unit sets a signal lamp public period, a coordination phase difference and a traffic lamp time, the signal optimization coordination control unit applies information set by the parameter coordination configuration unit to a signal lamp control system, the signal lamp control system controls signal lamps and movable signal lamps of upstream and downstream intersections, and vehicles are evacuated according to indication of the signal lamps.
In the above technical solution, the traffic light time is calculated by a performance index equation, where the performance index equation is:
st.
Φ(Q(k0+k|k0))＝0
Ω(g(k0+k|k0))＝0
Umin≤g(k0+k|k0)≤Umax
where Z is the minimum travel time through the congested road segment, Q (k)0+k|k0) To sample step k from the current0Number of vehicles state vector to k prediction step, g (k)0+k|k0) To sample step k from the current0The green light time control vector up to the kth prediction step, H is the weight diagonal matrix of the number of vehicles, R is the weight diagonal matrix of the green light time, Φ (Q (k)0+k|k0) 0 is the vehicle number demand constraint, Ω (g (k))0+k|k0) 0 is the green time demand constraint, NpFor the common period of the upstream and downstream crossings, UmaxFor maximum duration of green light for each phase, UminThe green light for each phase lasts for a minimum time.
In the above technical scheme, the public period is the maximum value in the upstream and downstream intersection signal lamp periods.
In the technical scheme, the coordination phase difference is the average running time of the vehicle on the accident road section.
In the technical scheme, the traffic accident warning system further comprises a warning induction unit, wherein the warning induction unit receives the traffic accident occurrence road section transmitted by the drive test unit and reminds a driver to drive to the right.
A method for dredging vehicles jammed on road sections under traffic accidents is characterized in that a parameter coordination configuration unit receives information transmitted by a drive test unit and establishes a road section traffic flow prediction model; and establishing a performance index equation, and calculating the green time of each phase of the downstream intersection so as to determine the traffic light time of the mobile signal light and the traffic light time of each phase of the upstream and downstream intersections, and leading the vehicles according to the traffic light time of the signal light.
Further, the traffic flow prediction model is as follows:
wherein: qb,a(k) For a section of time k
The vehicle flow rate of (c);
the number of vehicles is input for the upstream intersection at time k,
outputting the number of vehicles, C, for the downstream intersection at the moment kbFor the signal lamp period at the upstream crossing, CaThe signal lamp period of the downstream intersection.
Furthermore, when the green time of each phase of the downstream intersection is solved, the predicted flow constraint condition satisfies an objective function z as a minimum model of the road section running time t, the objective function is established by a traffic flow prediction model for the minimum model of the road section running time, and the minimum model is as follows:
st.
0≤Qb,a(k+1)<(L×NR)/lveh
0≤Qb,a(k)<(L×NR)/lveh
wherein L is a road section
Total length of (1), NRFor road sections
Total number of lanes of lvehThe length of the automobile body is taken as the length,
for entering road section at time k
The maximum value of the number of vehicles in (c),
for leaving the road section at time k
Maximum number of vehicles.
Furthermore, the traffic light time of each phase of the upstream intersection is the same as that of each phase of the downstream intersection, and the green light time of the first phase of the upstream intersection is longer than that of the first phase of the downstream intersectionEarly txcSecond, in which phase differences are reconciled
L is the total length of the accident road section,
the average driving speed of the vehicle on the accident road section.
Furthermore, the green light time of the mobile signal light comprises two neutral intervals, and the neutral interval is 1 green light time gew,r＝gsl-glvWherein g isslEnd time of east-west left turn green light for downstream intersection, glvThe time when vehicles pass through the accident occurrence point at other intersections of the downstream intersection is taken as the time; neutral interval 2 green light time gsn,r＝gsr-gslWherein g issrAnd the time is the south-north straight green light end time of the downstream intersection.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the method, the road section flow prediction model is established by combining the input vehicle number and the signal lamp period of the upstream intersection and the output vehicle number and the signal lamp period of the downstream intersection, the road section flow is predicted, the number of vehicles entering the road section in the next period can be predicted in real time, and reliable data are provided for the next signal optimization.
(2) The invention establishes a model with the minimum target function as the road section running time and a performance index equation, and provides a reliable basis for solving the green light optimal time.
(3) According to the invention, the mobile signal lamp is coordinated with the green lamp of the signal lamp of the downstream intersection, the neutral green lamp time of the mobile signal lamp is solved, vehicles in the congested road section at the accident occurrence point change the road by means of the opposite lane, and the congestion of the road section is reduced.
Drawings
FIG. 1 is a block diagram of a system for traffic guidance of congested vehicles on road sections in a traffic accident;
FIG. 2 is a schematic diagram illustrating an application of the system for dredging congested vehicles on a road section in a traffic accident;
FIG. 3 is a flow chart of the traffic congestion traffic dispersion process for road segments under traffic accidents according to the present invention;
FIG. 4 is a control diagram of the cooperative signal cycle between the mobile signal lamp and the downstream intersection according to the present invention;
wherein: the method comprises the following steps of 1-underground induction coil, 2-electronic indicator board, 3-movable signal lamp, 4-upstream intersection signal lamp, 5-downstream intersection signal lamp, 6-road test unit and 7-accident occurrence point.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, a road congestion vehicle evacuation system under a traffic accident includes a drive test unit, a parameter coordination configuration unit, a signal optimization coordination control unit, and an early warning induction unit, where the drive test unit is applied to V2I (vehicle-to-vehicle infrastructure), V2V (vehicle-to-vehicle), V2N (vehicle-to-network), and V2P (vehicle-to-vehicle) scenes based on a cellular 4.5G communication technology, and the present invention is mainly applied to V2I and V2N scenes to evacuate vehicles; the road test unit is connected with a microwave radar and an underground induction coil, the microwave radar is used for acquiring a traffic accident occurrence point and determining a traffic accident occurrence section, the microwave radar is sent to a road command and scheduling system through the road test unit, the underground induction coil is used for acquiring the number of vehicles of the traffic accident occurrence section, the number of vehicles of the traffic accident occurrence section and the traffic accident occurrence section is transmitted to a parameter coordination configuration unit through the road test unit, the parameter coordination configuration unit sets a signal lamp common period, a coordination phase difference and traffic lamp time, the common period is the maximum value in the signal lamp periods of upstream and downstream intersections, the average driving time of the vehicles in the accident section is calculated as the coordination phase difference, the traffic lamp time is calculated by a performance index equation, and the signal optimization coordination control unit is used for calculating the set signal lamp common period, the coordination phase difference and the maximum value of the traffic lamp common period, The traffic light time is applied to the signal light control system, and the signal light control system controls the signal lights and the mobile signal light of the intersection of the upstream and downstream, and the early warning induction unit receives the traffic accident occurrence road section transmitted by the road test unit for the electronic indication board arranged on the right side of the road at the south entrance a4, and reminds the driver to pay attention to driving to the right.
As shown in fig. 2, in the application schematic diagram of the road section congestion vehicle diversion system under the traffic accident, 1 in the drawing is an underground induction coil, 2 is an electronic sign, 3 is a mobile signal lamp, 4 is an upstream intersection signal lamp, 5 is a downstream intersection signal lamp, 6 is a road measurement unit, 7 is an accident occurrence point, a1, a2 and a3 are respectively a downstream intersection straight intersection, a left-turn intersection and a right-turn intersection, and b1, b2 and b3 are respectively an upstream intersection straight intersection, a left-turn intersection and a right-turn intersection; the underground induction coil 1 is arranged at an outlet of an upstream intersection b and an inlet of a downstream intersection a, the mobile signal lamp 3 is arranged at an accident occurrence point 7 (after the mobile signal lamp 3 receives a traffic accident through a road commanding and dispatching system, a worker drags to the accident occurrence point), the upstream intersection signal lamp 4 is arranged at the upstream intersection b, the downstream intersection signal lamp 5 is arranged at the downstream intersection a, and the road testing unit 6 is arranged at two sides of a road. The signal lamps of the upstream and downstream intersections and the movable signal lamps do not consider the yellow lamp time.
As shown in fig. 3, a method for dredging congested vehicles on a road section under a traffic accident specifically includes the following steps:
s1, acquiring accident occurrence point information by a microwave radar and an underground induction coil, transmitting the accident occurrence point information to a parameter coordination configuration unit through a road test unit, and establishing a road section traffic flow prediction model by the parameter coordination configuration unit; the traffic flow prediction model specifically comprises the following steps:
setting the signal lamp period of the upstream intersection b as CbThe signal lamp period of the downstream intersection a is CaAt time k, the accident occurs on the road section
The relation update equation of the traffic flow, the number of the vehicles input at the upstream intersection and the number of the vehicles output at the downstream intersection is as follows:
wherein: qb,a(k) For a section of time k
The vehicle flow rate of;
the number of vehicles is input for the upstream intersection at time k,
outputting the number of vehicles for the downstream intersection at the moment k; and:
s2, establishing a model with an objective function being minimum road section running time according to the traffic flow prediction model, establishing a performance index equation, and calculating the green time of each phase of the downstream intersection; the method specifically comprises the following steps:
establishing a model with an objective function z as the minimum road section travel time t:
wherein L is a road section
Total length of (1), NRFor road sections
Total number of lanes of lvehThe length of the automobile body is taken as the length,
for entering road section at time k
The maximum value of the number of vehicles in (c),
for leaving the road section at time k
Maximum number of vehicles of (2); and is
Satisfy the requirement of
Otherwise, vehicles on the congested road section overflow to influence the passing of vehicles on other direction road sections of the upstream intersection b, wherein L2The distance between the accident point and the exit lane line of the upstream intersection b.
The minimum driving time passing through the congested road section and the number of vehicles on the road section where the traffic accident occurs are used as optimization indexes of signal lamp timing, the minimum driving time Z passing through the congested road section is related to the green light time of an upstream intersection and a downstream intersection, the minimum driving time passing through the congested road section is replaced by the green light time g, and an equation expression of a performance index is as follows:
wherein, Q (k)0+k|k0) To sample step k from the current0Number of vehicles state vector to k prediction step, g (k)0+k|k0) To sample step k from the current0The method comprises the following steps that a green light time control vector of a prediction step k is obtained, H is a weight diagonal matrix of vehicle number, R is a weight diagonal matrix of green light time, the weight occupied by each state vector is equal, namely H is equal to I, I is a unit matrix, R is equal to Ir, R is the ratio of the state vector to the control vector, the specific value is determined by simulation, and H is greater than or equal to 0 and R is greater than or equal to 0; phi (Q (k)0+k|k0) 0 is the vehicle number demand constraint, Ω (g (k))0+k|k0) 0 is the green time demand constraint; n is a radical ofpFor the upstream and downstreamThe common period of the intersection (i.e. the period of the upstream and downstream intersections is the largest); u shapemaxFor maximum duration of green light for each phase, UminThe green light for each phase lasts for a minimum time.
Solving the green time of each phase by the performance index equation, and recording ga(k0)＝[(ga(k0))T,…,(ga(k0+NP-1))T]TFor each phase green time sequence of downstream crossing a, y (k)0+k|k0) The steps are as follows for the actual number of vehicles:
step (1), setting a current sampling step k0Predicted vehicle number Q (k)0)＝n0Setting iteration pointer s as 1, current control step c as 1, and prediction step k as k0+c-1,…,k0+c-2+NPAll predicted flows meet the prediction updating equation (1), and the predicted flow constraint condition meets the equation (4);
step (2), solving the optimal green light time of each prediction step
Enabling the performance index equation objective function f → min to meet the constraint condition (5), thereby obtaining the optimal green light phase time sequence (namely the green light time of each phase) of the downstream intersection a
Step (3), convergence judgment is carried out, if | | | Q (k)0+k|k)-y(k0+k|k)||>E (e is the pre-given precision, and takes 0.001), then s is set to s +1, go to step (2) and continue the iteration, otherwise, the calculation is finished.
And (4) moving a control step forward, wherein c is c +1, and returning to the step (2).
Subtracting the common period N from the green time of each phase of the downstream intersection apAnd acquiring the red light time of each phase of the downstream intersection a.
And S3, solving the green light display time of the moving signal light according to the green light time of each phase of the downstream intersection solved in the step S2.
As shown in fig. 4, the signal lamp at the downstream intersection a is provided with four phases, namely an east-west straight line 1, an east-west left turn 2, a south-north straight line 3 and a south-north left turn 4; the movable signal lamp is provided with two phases, namely a lane changing green lamp and a lane changing red lamp, wherein a denotes a signal lamp phase of a downstream intersection, and d denotes a phase of the movable signal lamp. In the figure, glrEnd time of east-west straight-going green light, g, for downstream intersectionlvThe time of vehicles passing through the accident occurrence point g at other intersections of the downstream intersectionslEnd time of east-west left turn green light for downstream intersection, gsrThe end time of the green light for the straight-ahead driving of the downstream intersection from south to north, gnlAnd the time for the downstream intersection to turn left to green in the south and north is the ending time. Time g for traffic flow at downstream intersection to pass through accident occurrence pointlvAccording to the formula
Is calculated to obtain wherein L1Is the distance between the accident point and the inlet lane line of the downstream intersection a, VtThe average speed of the vehicles at other intersections to the accident occurrence point. With reference to fig. 4, the green time of the two neutral intervals of the mobile signal lamp is respectively: the green time of the neutral section 1 is the time obtained by subtracting the time of the vehicles passing through the accident occurrence point at other intersections of the downstream intersection from the end time of the east-west left-turn phase green light at the downstream intersection, namely the green time g of the neutral section 1ew,r＝gsl-glv(ii) a The green light time of the neutral interval 2 is obtained by subtracting the green light end time of the east-west left-turn phase of the downstream intersection from the green light end time of the south-north straight-going phase of the downstream intersection, namely the green light time g of the neutral interval 2sn,r＝gsr-gsl(ii) a Green time g of mobile signal lampgc＝gsr-glv(ii) a Subtracting the common period N from the green time of each phase of the mobile signal lamppAnd acquiring the red light time of each phase of the mobile signal light. Vehicles on the congested road section change lanes by opposite lanes in two neutral green time intervals of the moving signal lamp.
S4, coordinating the phase difference to
Wherein L is the total length of the accident road section,
taking 50km/h as the average running speed of the vehicle on the accident road section; setting the traffic light time of each phase of the upstream intersection to be consistent with the traffic light time of each phase of the downstream intersection, wherein the green light time of the first phase of the upstream intersection is t earlier than that of the first phase of the downstream intersectionxcAnd second. And after the parameter coordination configuration unit sets the public period, the coordination phase difference and the traffic light time of each phase of the upstream and downstream intersections, the public period, the coordination phase difference and the traffic light time are transmitted to the signal lights and the movable signal lights of the upstream and downstream intersections, and the vehicles are dredged according to the indication of the signal lights.
The following provides a specific application scenario, and a vehicle evacuation method in a traffic accident is specifically described through VISSIM simulation.
Firstly, the accident road section before the system and the method are used is simulated. Signal lamp period C at upstream intersectionb130s, the green time of east-west straight going is 40s, the green time of east-west left turning is 25s, the green time of south-north straight going is 38s, and the green time of south-north left turning is 27 s; signal lamp period C of downstream intersectionaThe time is 120s, the green time for east-west straight driving is 35s, the green time for east-west left turning is 30s, the green time for south-north straight driving is 30s, and the green time for south-north left turning is 25 s. Accident road section
Has a total length L of 500m and a distance L between the accident point and the inlet lane line of the downstream intersection a1250m, average speed V from vehicles at other intersections to accident occurrence pointt＝50km/h＝14m/s。
Data simulated by VISSIM is shown in table 1 below:
TABLE 1 simulation results of accident road section before using the system and method of the present invention
Simulation using the system and method of the present invention, common period Np120s, the phase difference of the coordination is 36s,
the green light display time of the moving signal light is 46 s. The data obtained by adopting the system and the method of the invention in the accident road section through VISSIM simulation are shown in the table 2:
TABLE 2 simulation results of the accident road section using the system and method of the present invention
As can be seen from the above tables 1 and 2, the system and method of the present invention have a significant effect on vehicle dispersion in the accident road section.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (8)
1. A method for dredging congested vehicles on road sections under traffic accidents is characterized by comprising the following steps:
the method for dredging the congested vehicles in the road sections under the traffic accidents is based on a system for dredging the congested vehicles in the road sections under the traffic accidents, the system for dredging the congested vehicles in the road sections under the traffic accidents comprises a road test unit, a parameter coordination configuration unit and a signal optimization coordination control unit, the road test unit transmits the vehicle number of the road sections where the traffic accidents happen and the vehicle number of the road sections where the traffic accidents happen to the parameter coordination configuration unit, the parameter coordination configuration unit sets the common period of signal lamps, the coordination phase difference and the time of the traffic lamps, the signal optimization coordination control unit applies the information set by the parameter coordination configuration unit to the signal lamp control system, the signal lamp control system controls the signal lamps of upstream and downstream intersections and the mobile signal lamps, and the vehicles dredge according to the indication of the signal lamps;
the parameter coordination configuration unit receives the information transmitted by the drive test unit and establishes a road section traffic flow prediction model; establishing a performance index equation, and calculating the green time of each phase of the downstream intersection so as to determine the traffic light time of the mobile signal light and the traffic light time of each phase of the upstream and downstream intersections, and leading the vehicles according to the traffic light time of the signal light;
the green light time of the mobile signal light comprises two neutral intervals, wherein the neutral interval is 1 green light time gew,r＝gsl-glvWherein g isslEnd time of east-west left turn green light for downstream intersection, glvThe time when vehicles pass through the accident occurrence point at other intersections of the downstream intersection is taken as the time; neutral interval 2 green light time gsn,r＝gsr-gslWherein g issrAnd the time is the south-north straight green light end time of the downstream intersection.
2. The method according to claim 1, wherein the traffic flow prediction model is:
wherein: qb,a(k) For a section of time k
The vehicle flow rate of;
the number of vehicles is input for the upstream intersection at time k,
outputting the number of vehicles, C, for the downstream intersection at the moment kbFor the signal lamp period at the upstream crossing, CaThe signal lamp period of the downstream intersection.
3. The method according to claim 2, wherein when the green time of each phase at the downstream intersection is solved, the predicted flow constraint condition satisfies an objective function z, which is a model of minimum road section travel time t, the objective function is established by a traffic flow prediction model, and the minimum model is:
st.
0≤Qb,a(k+1)<(L×NR)/lveh
0≤Qb,a(k)<(L×NR)/lveh
wherein L is a road section
Total length of (1), NRFor road sections
Total number of lanes of lvehThe length of the automobile body is taken as the length,
for entering road section at time k
The maximum value of the number of vehicles in (c),
for leaving the road section at time k
Maximum number of vehicles.
4. The method according to claim 1, wherein the traffic light time of each phase of the upstream intersection is the same as the traffic light time of each phase of the downstream intersection, and the green light time of the first phase of the upstream intersection is t earlier than the first phase of the downstream intersectionxcSecond, in which phase differences are reconciled
L is the total length of the accident road section,
the average driving speed of the vehicle on the accident road section.
5. The method according to claim 1, wherein the traffic light time is calculated by a performance index equation, and the performance index equation is as follows:
st.
Φ(Q(k0+k|k0))＝0
Ω(g(k0+k|k0))＝0
Umin≤g(k0+k|k0)≤Umax
where Z is the minimum travel time through the congested road segment, Q (k)0+k|k0) To sample step k from the current0Number of vehicles state vector to k prediction step, g (k)0+k|k0) To sample step k from the current0The green light time control vector up to the kth prediction step, H is the weight diagonal matrix of the number of vehicles, R is the weight diagonal matrix of the green light time, Φ (Q (k)0+k|k0) 0 is the vehicle number demand constraint, Ω (g (k))0+k|k0) 0 is the green time demand constraint, NpFor the common period of the upstream and downstream crossings, UmaxFor maximum duration of green light for each phase, UminThe green light for each phase lasts for a minimum time.
6. The method according to claim 5, wherein the common period is the maximum value in the signal lamp periods of the upstream and downstream intersections.
7. The method of claim 1, wherein the coordinated phase difference is an average time of travel of the vehicle on the accident road section.
8. The method for dredging congested vehicles in road sections under traffic accidents as claimed in claim 1, further comprising an early warning induction unit, wherein the early warning induction unit receives the traffic accidents occurring road sections transmitted by the drive test unit and reminds a driver to drive to the right.
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| CN113421423B (en) * | 2021-06-22 | 2022-05-06 | 吉林大学 | Networked vehicle cooperative point rewarding method for single-lane traffic accident dispersion |
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