CN112967502A - Traffic flow control method for crossroad - Google Patents
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Abstract
The invention discloses a traffic flow control method for a crossroad, which comprises the following steps of 1, numbering eight traffic flows in the crossroad in sequence, selecting any one of the traffic flows as a main flow for traffic control, and calculating the numbers of three branch flows which can run in parallel with the main flow according to the number of the main flow to form a parallel flow control packet; step 2, calculating and acquiring a parallel flow control packet switching sequence table according to the serial number of the main stream and the serial number of the tributary; step 3, randomly selecting a group of parallel flow control packet sequences from the parallel flow control packet sequence list, and controlling the traffic flow of the crossroad according to the set passing time rule; and 4, judging whether the current parallel flow control packet sequence is finished or not, if so, returning to the step 1. According to the method, a plurality of traffic flows running in parallel are controlled by one parallel flow control packet, so that the dispersed traffic time in a traffic period is gathered, the traffic overhead caused by introducing signal conversion is reduced, and the traffic volume is increased.
Description
Technical Field
The invention relates to the technical field of intelligent traffic control, in particular to a traffic flow control method for a crossroad.
Background
Under the condition that the road infrastructure construction is relatively fixed, the reasonable traffic signal control strategy can effectively relieve the traffic intersection congestion condition and reduce the driving delay. For example, in a suburb area with dense residential population, the early peak time of the roads will be ahead of the central area of the city with dense activity, and the late peak time will be delayed. The flexibility of timing signal control based on the whole situation is low, and the requirements of an actual traffic system are difficult to adapt; while the induction timing mostly utilizes short-time local information, and has regulation hysteresis. Traffic flow state recognition is carried out by utilizing traffic real-time monitoring and historical statistical data such as peak time and flow distribution of urban roads, traffic flow fluctuation statistics of road section information and the like, matching of traffic flow characteristics and traffic signal control strategies can be well realized, and the purpose of dynamic coordination control of traffic signals is achieved.
The intelligent traffic system based on the wireless sensor network has the key characteristics of wide coverage, low cost and the like [1], and becomes a direction of development of the intelligent traffic system. It is a research subject to acquire real-time traffic data using a wireless sensor network, for example, the number of waiting vehicles at each intersection, the traffic situation at the next intersection, and the like, which contain important information required for traffic control and can support the control of traffic lights, for example, documents [1] to [2 ]. The prior literature places much attention on the timing of traffic lights and the sequential management of green lights. Two general categories can be distinguished: one is stationary (Static or Fixed-time Control) [1], and the other is Adaptive (Adaptive Control) [2 ]. The fixed type determines a fixed green light sequence and duration according to statistical data, cannot be dynamically changed according to real-time conditions, and the fixed timing method has the worst effect, and the reason is that traffic flow is different due to the fact that different road section information is ignored for conveniently setting signals. This is the currently widely used mode in China. The adaptive type is expected to determine the control of the signal lights by analyzing real-time traffic data, and is the development direction of traffic infrastructure, and typical representative systems are SCOOT and SCATS. However, the control method adopted by the existing adaptive scheme still continues to use the fixed concept, and is still limited to the traditional serial and sequential passing mode in thinking. For example, the documents [1] and [3] are cited.
Document [1] collects information about a plurality of intersections adjacent to each other by using a wireless sensor network. The characteristics and special conditions of the traffic flow are considered, such as rescue vehicles, traffic accidents and the like. A green light timing algorithm and a green light sequence decision algorithm are designed. The control mode is also a serial and sequential passing mode.
Document [3] realizes real-time traffic light control by collecting speed data of passing vehicles and adjusting the time of traffic lights through comprehensive calculation. The way of control is finally reflected in the computation of green light timing and green light sequence.
Documents [4-5] use an improved webster timing algorithm to control traffic signals, although with a certain control effect. But the optimized fixed split ratio signal timing is still fixed in nature, when the traffic flow distribution at the intersection is relatively discrete, the vehicle delay is higher, and the self-adaptability is poor.
In the traditional traffic scheme, two non-conflicting traffic flows are put together to serve as a scheduling unit, the difference of the flow rates is not distinguished, and the traffic flows either pass or stop according to the control requirement. The flexibility is not enough, and the passing efficiency is influenced.
Disclosure of Invention
The invention provides a traffic flow control method for a crossroad, which solves the problem that the traffic flow is reduced due to the traffic overhead caused by signal conversion in the existing traffic control.
The technical means adopted by the invention are as follows:
a traffic flow control method for an intersection of crossroads includes the following steps,
wherein, b1、b2And b3Respectively the number of three branches, m is the number of the main stream, m, b1、b2And b3The value range of (1) is 0-7;
wherein the content of the first and second substances,
wherein:
to
Representing any group of parallel flow control packets in the parallel flow control packet switching sequence table; x is the number ofi、xjRepresenting main flow in parallel flow-controlled packet sequenceNumbering;
representing traffic flow xiA parallel set of (a);
representing a complete set of cross-road traffic flows, i.e.
f0To f7Representing the traffic flow at a crossroad;
and 4, judging whether the current parallel flow control packet sequence is finished or not, if so, returning to the step 1.
Further, the passing time rule is specifically as follows:
and keeping the main stream of traffic flow to pass all the time in the control time of the parallel flow control packet, and adjusting the traffic flow passing time of the tributary based on an isochronous sequential switching rule or a real-time traffic data switching rule in the control time of the parallel flow control packet.
Further, the adjusting of the traffic flow passing time of the tributary based on the real-time traffic data switching rule includes:
obtaining the flow f 'of the current vehicle flow of the three branches'a,f′bAnd f'c；
Obtaining the current waiting length L 'of the three branches'a,L′bAnd L'c；
Flow f 'according to the current traffic flow'a，f′b,f′cAnd the current waiting length L'a,L′b,L′cAnd calculating the traffic flow passing time of each branch by the formula (5):
wherein: suppose fb'>fa'>fc'，T0＝3T，T0Control time, T, for a parallel flow control packeta、TbAnd TcRespectively the traffic flow passing time of each branch flow.
Compared with the prior art, the traffic flow control method for the crossroad has the following beneficial effects: a plurality of traffic flows which can run in parallel are placed in a parallel flow control packet to be controlled, so that the scattered passing time in the passing period is gathered, the passing overhead brought by introducing signal conversion is reduced under the condition of equal passing opportunity, and the purpose of improving the passing amount is achieved.
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FIG. 1 is a schematic diagram of eight traffic flows at an intersection, i.e., a simplest traffic flow model at the intersection;
FIG. 2 is a schematic diagram of mutual exclusion (conflict) relationship between traffic flows;
FIG. 3 is a schematic view of a single lane one-way intersection;
FIG. 4 is a schematic view of traffic flow at an intersection with a right turn traffic flow;
FIG. 5 is a schematic view of a crossroad traffic stream with two straight traffic streams;
FIG. 6 is a flow chart of a traffic control method for an intersection as disclosed herein;
FIG. 7 is a switched sequence table of compute-acquire parallel flow control packets in the present invention, only a portion of which is shown;
FIG. 8 is a traffic flow switching sequence of the control method disclosed in the present invention;
fig. 9 is a traffic flow switching sequence of the control mode 1;
fig. 10 is a traffic flow switching sequence of the control mode 2;
FIG. 11 is a graph showing the relationship between the number of vehicles passing through the intersection and the speed under three control modes;
fig. 12 is a schematic layout diagram for collecting traffic flow and waiting length in embodiment 2 of the present invention.
Detailed Description
Fig. 1 is a schematic diagram of eight lanes of traffic flow of a conventional intersection (note: the intersection is the simplest traffic flow model), and the concept in an operating system is used, and the intersection is a critical resource, that is, the intersection is used with mutual exclusivity, that is, only non-intersecting traffic flows are allowed to pass through at the same time. Mutual exclusivity and conflict existing between traffic flows are revealed as shown in fig. 2. Road junction
With flow of traffic fx、fyIf f isxAnd fyAnd if the intersection track is crossed, the conflict is recorded as: f. ofx∝fy. Conversely, the relationship between traffic flows where trajectories do not intersect is called a parallel relationship, and is noted as:
the crossroad shown in FIG. 1 is denoted as crossroad
Is provided with
For traffic flow at intersections, i.e. complete set
Representing traffic flow xiCan be connected with the traffic flow x at a certain intersectioniSet of all traffic flows in parallel.
Indicating the size of the corpus of traffic flow, in the present invention,
the traffic signal plays a role in coordinating orderly and safe use of intersections by a plurality of traffic flows. The purpose of time-sharing multiplexing of a plurality of traffic flows at an intersection can not be realized without traffic signals. However, the introduction of traffic signals introduces a loss of vehicle throughput, which is analyzed below.
To illustrate the problem more clearly, the intersection shown in fig. 1 is simplified to a one-way 1-lane intersection shown in fig. 3.
As shown in FIG. 3, C.Z is a Critical Zone (Critical Zone), f1And f2Is a pair of mutually exclusive traffic flows. Although, the traffic flow is difficult to be described by a mathematical model due to the high randomness, and quantitative calculation is achieved. However, the following quantitative calculation may be made. And setting the maximum speed of the traffic flow as v, the acceleration as a and the traffic flow density d. Analysis reveals that, for a certain traffic flow, for example, f1Traffic density and speed and current traffic flow f in the traffic signal (i.e., green signal) period, C.Z1The same; stop-traffic (i.e. red signal) period, C.Z, where traffic density and speed are correlated with another flow of traffic f2Similarly, the throughput of the entire interface is not affected. However, in the signal switching (i.e., yellow signal) period, the traffic flow f1With the acceleration a decelerated to 0, the vehicle in region C.Z became empty, f gradually accelerated to the highest speed v, and normal vehicle density was restored in region C.Z.
Therefore, the vehicle passage loss caused by this switching process is at least: 2 v/ad.
Example 1
Fig. 6 shows a traffic flow control method for an intersection according to the present invention, which comprises the following steps,
wherein, b1、b2And b3Respectively the number of three branches, m is the number of the main stream, m, b1、b2And b3The value range of (1) is 0-7;
specifically, FIG. 1 illustrates an eight lane traffic flow diagram of an existing intersection (note: the intersection is the simplest traffic flow model that includes all the necessary traffic flows, and other actual intersections can be described by the model. for example, FIG. 4 includes a right turn traffic flow. The crossroad shown in FIG. 1 is denoted as crossroad
Is provided with
For traffic flow at intersections, i.e. complete set
In this embodiment, eight traffic flows in the intersection are numbered sequentially from 0 to 7 in the clockwise direction, and each traffic flow is sequentially marked as f0、f1、f2、f3、f4、f5、f6And f7And select the weaveThe traffic flow with the number 0 is a main flow, the numbers of three branches which can pass in parallel with the main flow with the number 0 can be calculated to be the number 1, the number 3 and the number 4 respectively through the formula (1), the formula (2) and the formula (3), and the four traffic flows with the numbers 0,1,3 and 4 are taken as one parallel flow control packet P0＝[0：1,3,4]Controlling; the parallel operation means that two traffic flows do not intersect at the intersection, and for any one traffic flow in the intersection, three traffic flows (branch flows) and the traffic flow (main flow) can be calculated to operate in parallel, for example, f0Three parallel branches are respectively f1、f3And f4Is denoted by P0＝[0：1,3,4]And f1Three parallel branches are respectively f0、f5And f6Is denoted by P1＝[1：0,5,6]And f2Three parallel branches are respectively f3、f5And f6Is denoted by P2＝[2：3,5,6]And f3Three parallel branches are respectively f7、f0And f2Is denoted by P3＝[3：7,0,2]And f4Three parallel branches are respectively f5、f7And f0Is denoted by P4＝[4：5,7,0]And f5Three parallel branches are respectively f1、f2And f4Is denoted by P5＝[5：1,2,4]And f6Three parallel branches are respectively f7、f1And f2Is denoted by P6＝[6：7,1,2]And f7Three parallel branches are respectively f3、f4And f6Is denoted by P7＝[7：3,4,6]。
wherein the content of the first and second substances,
wherein:
to
Representing any group of parallel flow control packets in the parallel flow control packet switching sequence table; x is the number ofi、xjA number indicating a main stream in the parallel flow control packet sequence;
representing traffic flow xiA parallel set of (a);
representing a complete set of cross-road traffic flows, i.e.
f0To f7Representing the traffic flow at a crossroad;
specifically, in step 2, the numbers of the main stream and the tributary in the first parallel flow control packet are obtained according to step 1, and a parallel flow control packet sequence table can be obtained through calculation according to formula (4). The basic idea of this formula can be derived from four conditions: by
It can be seen that L is formed by taking all traffic flows at the intersection as main flows in turn. By
It can be known that, in the L chain, the main stream in the following control packet must be a certain sub-stream in the previous control packet. By
It can be seen that any two control packets in L are different. By "one cycle unit size of
' mayLength of (1)
Namely the total traffic flow at the intersection.
In this embodiment, a traffic flow numbered 0 is used as a main flow, and a parallel flow control packet sequence table obtained by a formula (4) is shown in fig. 7, where the parallel flow control packet sequence table includes a plurality of sets of parallel flow control packet sequences, each of the parallel flow control packet sequences includes eight parallel flow control packets, and each of the parallel flow control packets includes one main flow and three tributaries.
specifically, in this embodiment, a group of parallel flow control packet sequences is arbitrarily selected from the parallel flow control packet sequence table, as shown in the figure, the selected parallel flow control packet sequences are 0:4,5,7,4:0,1,3,1:2,4,5,2:1,6,7,7:0,2,3,3:4,6,7,6:2,3,5, and 5:0,1,6 in sequence, a number before a part number in each parallel flow control packet represents a number of a main stream, and three numbers after the part number represent numbers of three tributaries, respectively. The method comprises the following steps of controlling the traffic flow of the crossroad through parallel flow control packets, wherein in the control time of the parallel flow control packets, in the embodiment, the control time of each parallel flow control packet is assumed to be 3T, the traffic flow of a main flow is kept to pass all the time, namely the traffic flow running time of the main flow is 3T (a signal lamp for controlling the traffic flow of the main flow is a green light), and meanwhile, in the control time of the parallel flow control packets, the traffic flow passing time of branch flows is adjusted on the basis of an isochronous sequential switching rule, namely the sequential passing time of three branch flows is T; fig. 7 is a timing chart of traffic control performed by the parallel flow control packet sequence in the present embodiment, which is used to control traffic lights of the corresponding traffic;
and 4, judging whether the current control packet sequence is finished or not, if so, returning to the step 1.
Example 2
Fig. 6 shows a traffic flow control method for an intersection according to the present invention, which comprises the following steps,
wherein, b1、b2And b3Respectively the number of three branches, m is the number of the main stream, m, b1、b2And b3The value range of (1) is 0-7;
specifically, FIG. 1 illustrates an eight lane traffic flow diagram of an existing intersection (note: the intersection is the simplest traffic flow model that includes all the necessary traffic flows, and other actual intersections can be described by the model. for example, FIG. 4 includes a right turn traffic flow. The position of figure 1The crossroad is marked as
Is provided with
For traffic flow at intersections, i.e. complete set
In this embodiment, eight traffic flows in the intersection are numbered sequentially from 0 to 7 in the clockwise direction, and each traffic flow is sequentially marked as f0、f1、f2、f3、f4、f5、f6And f7Selecting the traffic flow with the number of 0 as a main flow, calculating the numbers of three branches which can run in parallel with the main flow with the number of 0 as the number 1, the number 3 and the number 4 respectively through a formula (1), a formula (2) and a formula (3), and taking the four traffic flows with the numbers of 0,1,3 and 4 as a parallel flow control packet P0＝[0：1,3,4]Controlling; the parallel operation means that two traffic flows do not intersect at the intersection, and for any one traffic flow in the intersection, three traffic flows (branch flows) and the traffic flow (main flow) can be calculated to operate in parallel, for example, f0Three parallel branches are respectively f1、f3And f4Is denoted by P0＝[0：1,3,4]And f1Three parallel branches are respectively f0、f5And f6Is denoted by P1＝[1：0,5,6]And f2Three parallel branches are respectively f3、f5And f6Is denoted by P2＝[2：3,5,6]And f3Three parallel branches are respectively f7、f0And f2Is denoted by P3＝[3：7,0,2]And f4Three parallel branches are respectively f5、f7And f0Is denoted by P4＝[4：5,7,0]And f5Three parallel branches are respectively f1、f2And f4Is denoted by P5＝[5：1,2,4]And f6Three branches in parallelThe flows are respectively f7、f1And f2Is denoted by P6＝[6：7,1,2]And f7Three parallel branches are respectively f3、f4And f6Is denoted by P7＝[7：3,4,6]。
wherein the content of the first and second substances,
wherein:
to
Representing any group of parallel flow control packets in the parallel flow control packet switching sequence table; x is the number ofi、xjA number indicating a main stream in the parallel flow control packet sequence;
representing traffic flow xiA parallel set of (a);
representing a complete set of cross-road traffic flows, i.e.
f0To f7Representing the traffic flow at a crossroad;
specifically, in step 2, the numbers of the main stream and the tributary in the first parallel flow control packet are obtained according to step 1, and a parallel flow control packet sequence table can be obtained through calculation according to formula (4). The basic idea of this formula can be derived from four conditions: by
It can be seen that L is formed by taking all traffic flows at the intersection as main flows in turn. By
It can be known that, in the L chain, the main stream in the following control packet must be a certain sub-stream in the previous control packet. By
It can be seen that any two control packets in L are different. By "one cycle unit size of
Length of "known
Namely the total traffic flow at the intersection.
In this embodiment, a traffic flow numbered 0 is used as a main flow, and a parallel flow control packet sequence table obtained by a formula (4) is shown in fig. 7, where the parallel flow control packet sequence table includes a plurality of sets of parallel flow control packet sequences, each of the parallel flow control packet sequences includes eight parallel flow control packets, and each of the parallel flow control packets includes one main flow and three tributaries.
Fig. 7 only provides a parallel flow control packet sequence table using the traffic flow with the number 0 as the main flow, and corresponding parallel flow control packet sequence tables can be correspondingly calculated using other numbers as the main flows, which are not given in the present invention.
parallel set
I.e. f is the main stream, fa,fbAnd fcAre sub-streams.
Obtaining the flow f 'of the current vehicle flow of the three branches'a,f′bAnd f'c；fa、fbAnd fc；f'1,f'3,f'4；
Obtaining the current waiting length L 'of the three branches'a,L′bAnd L'c；
Flow f 'according to the current traffic flow'a,f′b,f′cAnd the current waiting length L'a,L′b,L′cAnd calculating the traffic flow passing time of each branch by the formula (5):
wherein: suppose fb>fa>fc，T0＝3T，T0Control time, T, for a parallel flow control packeta、TbAnd TcRespectively the traffic flow passing time of each branch flow.
Specifically, in the embodiment, the current traffic flow rate and the waiting length may be obtained in the manner shown in fig. 12, that is, a flow meter and a waiting detector are arranged at the intersection, the current traffic flow rate is collected by the flow meter, and the waiting length is collected by the waiting detector; a group of parallel flow control packet sequences is arbitrarily selected from the parallel flow control packet sequence table, as shown in the figure, the selected parallel flow control packet sequences are 0:4,5,7,4:0,1,3,1:2,4,5,2:1,6,7,7:0,2,3,3:4,6,7,6:2,3,5 and 5:0,1,6 in sequence, the number in front of the part number in each parallel flow control packet represents the serial number of the main stream, and the three numbers behind the part number represent the serial numbers of the three sub-streams respectively. And the traffic flow of the crossroad is carried out by the parallel flow control packetThe specific control process is that, in the control time of the parallel flow control packet, in this embodiment, it is assumed that the control time of each parallel flow control packet is 3T, and the traffic flow of the main flow is kept passing all the time, that is, the traffic flow running time of the main flow is 3T (a traffic light for controlling the traffic flow of the main flow is a green light), and meanwhile, in the control time of the parallel flow control packet, the control time T of three tributaries isa、TbAnd TcCalculated by formula (5);
and 4, judging whether the current control packet sequence is finished or not, if so, returning to the step 1.
The method has the following beneficial effects:
the advantage of the packet traffic flow passing scheme is that the scattered passing time in the passing period is gathered, and under the condition of equal passing opportunities, the passing expenditure caused by introducing signal conversion is reduced to achieve the purpose of improving the passing amount. The analysis is as follows.
Document [6] indicates a combination of 12 types of safe traffic in total for 8 traffic flows shown in fig. 1. In fact, any traffic scenario ultimately embodies optimization and control of these 12 combinations. For example, in real life, the most common signal sequences are organized in a clockwise or counterclockwise order. Fig. 8 shows the timing of the counterclockwise sequential organization of signals, which is denoted as control mode 1. For another example, document [6] designs two algorithms, and can use data collected by the wireless sensor network to plan the switching sequence of 12 combination modes, which is denoted as control mode 2.
The traffic flow control method disclosed by the invention is compared with the control modes 1 and 2 as follows.
Comparing the timing sequences of fig. 8, 9 and 10, the parameters of table 1 can be obtained. From table 1, it is clear that, in the same 48T time and under the same traffic opportunities (6 traffic opportunities per traffic flow, i.e. 6 green lights), the traffic flow control method disclosed by the present invention has a maximum continuous traffic time of 5T and an occupancy of 40/48, while the other solutions have a maximum of 3T and a maximum of only 24/48. Therefore, it is concluded that: the continuous traffic flow control method disclosed by the invention can perform best under the condition of meeting at the same traffic machine in the same time.
Table 124 passage unit plan parameter comparisons
| |
|
The invention discloses a scheme | |||
| Period of | 12T | 12T | | ||
| Traffic opportunity | |||||
| 6 times of | 6 times of | 6 times of | |||
| Shortest continuous transit time length | 1T | 1T | 5T | ||
| Shortest continuous traffic ratio | 36/48 | 8/48 | 8/48 | ||
| Maximum length of continuous | 2T | 3T | 5T | ||
| Maximum continuous traffic ratio | 12/48 | 24/48 | 40/48 | ||
| Maximum number of |
6 times of | 6 times of | 2 times (one time) | ||
| Minimum number of |
4 times (twice) | 2 times (one time) | 2 times (one time) |
Note: t in table 1 represents one transit time unit.
The comparison of crossing throughput for the three control modes is shown in fig. 11. As can be seen from FIG. 11, when the vehicle speed is below 40km/s, the vehicles passing through the intersection are substantially equal, so the performances of the three schemes are basically consistent; when the vehicle speed is more than 40km/s (namely, under the condition that the road speed limit is relatively high), the advantages of the control mode disclosed by the invention begin to appear, the performance of the control mode 2 is the second, and the performance of the control mode 1 is the worst. Data calculations show that the throughput of the control scheme disclosed by the present invention is improved by about 14.29% compared to control scheme 1.
Reference to the literature
[1]Nellore,K.；Hancke,G.P.A Survey on Urban Traffic Management System Using Wireless Sensor Networks[J].Sensors 2016,16(157).
[2] An intelligent traffic light control system based on WSN is designed according to the following steps of J measurement and control technology, 2009,28(12):56-59.
[3]Jinyang Li,Yuanrui Zhang,Yixiang Chen.A Self-Adaptive Traffic Light Control SystemBased on Speed of Vehicles[C]//2016IEEE International Conference on Software Quality,Reliability and Security Companion(QRS-C),Vienna,Austria IEEE,2016.
[4] Improved webster signal timing model study with bus priority considered at je [ D ]. university of south east 2015.
[5] The signal intersection Webster method delays calculating and correcting a model [ J ] of Zhao Yu 26104, Von Yu celery, Yang loyalty, proceedings of the engineering academy of Heilongjiang (Nature science edition), 2010,24(02).
[6]B.Zhou,J.Cao,X.Zeng,and H.Wu,“Adaptive traffic light control in wireless sensor network-based intelligent transportation system,”in IEEE 72nd Vehicular Technology Conference,Ottawa,2010.
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 should be equivalent or changed within the scope of the present invention.
Claims (3)
1. A traffic flow control method for an intersection, characterized by: comprises the following steps of (a) carrying out,
step 1, numbering eight traffic flows in a crossroad in sequence, selecting any one traffic flow as a main flow for traffic control, calculating the numbers of three branch flows which can run in parallel with the main flow according to the numbers of the main flow and through a formula (1), a formula (2) and a formula (3), wherein the main flow and the three branch flows form a parallel flow control packet, and a symbol P for the parallel flow control packet is usedm＝[m：b1,b2,b3]Represents;
wherein, b1、b2And b3Respectively the number of three branches, m is the number of the main stream, m, b1、b2And b3The value range of (1) is 0-7;
step 2, acquiring a parallel flow control packet switching sequence table through a formula (4) according to the serial number of the main stream and the serial number of the tributary;
wherein the content of the first and second substances,
wherein:
to
Representing any group of parallel flow control packets in the parallel flow control packet switching sequence table; x is the number ofi、xjA number indicating a main stream in the parallel flow control packet sequence;
representing traffic flow xiA parallel set of (a);
representing a complete set of cross-road traffic flows, i.e.
f0To f7Representing the traffic flow at a crossroad;
step 3, randomly selecting a group of parallel flow control packet sequences from the parallel flow control packet sequence list, and controlling the traffic flow of the crossroad according to the set passing time rule;
and 4, judging whether the current parallel flow control packet sequence is finished or not, if so, returning to the step 1.
2. The method for controlling the flow of vehicles at an intersection according to claim 1, wherein the passing time rule is specifically:
and keeping the main stream of traffic flow to pass all the time in the control time of the parallel flow control packet, and adjusting the traffic flow passing time of the tributary based on an isochronous sequential switching rule or a real-time traffic data switching rule in the control time of the parallel flow control packet.
3. The method for controlling the flow of vehicles at an intersection according to claim 2, wherein the adjusting the flow passing time of the tributary based on the real-time traffic data switching rule comprises:
obtaining the flow f 'of the current vehicle flow of the three branches'a,f′bAnd f'c；
Obtaining the current waiting length L 'of the three branches'a,L′bAnd L'c；
Flow f 'according to the current traffic flow'a,f′b,f′cAnd the current waiting length L'a,L′b,L′cAnd calculating the traffic flow passing time of each branch by the formula (5):
wherein: suppose fb'>fa'>fc'，T0＝3T，T0Control time, T, for a parallel flow control packeta、TbAnd TcRespectively the traffic flow passing time of each branch flow.
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