CN113516854B - Multi-interface coordination self-adaptive control method based on police card and video detector - Google Patents
Multi-interface coordination self-adaptive control method based on police card and video detector Download PDFInfo
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- G—PHYSICS
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- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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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
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- 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
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
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- 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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- 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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a multi-intersection coordination self-adaptive control method based on a card alarm and a video detector, which relates to the technical field of intelligent traffic. And then, accurate statistics of the number of vehicles is realized by formulating a vehicle number miselimination rule, and reliable and credible data information is created for the trend. And finally, comparing the actual vehicle queuing length, the actual vehicle number and the actual interval time of the next phase acquired in real time with corresponding threshold values respectively, and reasonably eliminating the dynamic clearance by applying a dynamic elimination rule, thereby improving the maximum utilization rate of the signal lamp.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a multi-intersection coordination self-adaptive control method based on a traffic police card and a video detector.
Background
The traffic signal lamp is an important display tool in traffic safety products, can effectively release the traffic signal lamp, can strengthen the management of vehicles at the road junction, improve the utilization rate of road resources, reduce the waiting time of the vehicles, and more importantly, can pull the rapid development of economy. In early work, a traffic light detection algorithm based on vision is provided for identifying red light running behaviors. Other signal lamp detection algorithms are based on different technologies, such as a markov random field, a neural network, a mathematical form and the like, more empirical models are introduced to improve the performance of the algorithms, but the efficiency is different from the real-time performance.
At present, the video flow detection technology is applied to road traffic, the card police big data technology is rarely used in an actual intersection by technical personnel, and particularly, the phoenix feather unicorn is used in multi-intersection coordination by combining the card police big data technology and the video flow detection technology. The application of the technologies can provide reliable, effective and real-time dynamic traffic flow data and improve the efficiency of coordinating the intersection traffic. In recent years, optimization service engineering for road traffic release has become an important field of research, and higher requirements are also put forward on precision of traffic data, real-time monitoring of traffic states and prediction release of selection schemes. The application of the card police big data technology and the video flow detector technology to the field of researchers, and how to realize the maximization of the utilization of the data and make effective global control on single points of the road junction, especially on the coordination of multiple road junctions, is urgent.
Disclosure of Invention
The invention provides a multi-intersection coordination self-adaptive control method based on a card alarm and a video detector aiming at the problems and technical requirements, the prediction of future releasing modes of an intersection is realized through releasing rules and dynamic releasing rules, the dynamic releasing is reasonably released, the maximum utilization rate of the releasing of the intersection is realized, and the releasing efficiency of a main road is further improved.
The technical scheme of the invention is as follows:
a multi-interface coordination self-adaptive control method based on a card alarm and a video detector comprises the following steps:
respectively selecting the releasing cycles of the peak balancing time period and the peak balancing time period of the coordinated intersection as reference cycles, wherein the releasing modes of the releasing cycles are the same;
acquiring first historical dynamic information of a reference cycle through a card alarm and a video detector, and respectively predicting release modes of future release cycles of a coordinated intersection in a peak balance time period and a peak time period according to release rules executed by the first historical dynamic information;
and determining the current release mode of the key intersection according to the release rule, acquiring second historical dynamic information and real-time dynamic information of the key intersection through a card alarm and a video detector, and executing a dynamic elimination rule according to the second historical dynamic information and the real-time dynamic information so as to update the release mode of the key intersection.
The further technical scheme is that the first historical dynamic information comprises traffic flow information of various directions and release duration of various directions in each release period; executing a release rule according to the first historical dynamic information to predict a release mode of a future release cycle of a coordinated intersection flat peak period, wherein the release mode comprises the following steps:
in a release direction, the transitional release time of two phases is respectively set according to traffic flow informationIs denoted as TriThe release direction comprises a north-south direction and an east-west direction, and the phase comprises a north-south left turn and a south-north straight line, an east-west left turn and an east-west straight line;
calculating the average release duration of each movement direction of the reference period according to the release duration of each movement direction of each release period;
respectively calculating the difference between the average release duration of the two moving directions relative to the release direction, and recording the difference as ui；
By comparing uiAnd TriDetermining a comparison value of the two phases;
and determining a release mode of a future release cycle of the peak-balancing period of the coordinated intersection according to the two comparison values.
The further technical proposal is that u is comparediAnd TriDetermines a comparison value of the two phases, including:
setting the releasing direction as south-north direction, the corresponding phases are south-north left-turn and south-north straight-going, and recording the comparison values of the two phases as ML、MSThe comparison results are as follows:
wherein u is1、u2Is the difference between the average release duration of the south/north left turn and the south/north straight going, and u1＝NLt-SLt，NLtAverage let-go duration for north left turn, SLtAverage release duration for south left turn, u2＝NSt-SSt，NStAverage release duration for north straightforward movement, SStThe average release time length of the south straight line is obtained; tr1Passing time, Tr, for transitions between left turn from north to south2And (5) allowing the time for the transition of the south-north straight line.
The further technical scheme is that the method for determining the release mode of the future release cycle of the coordinated intersection peak-balancing time period according to the magnitude of the two comparison values comprises the following steps:
if M isL×MS>0, two release modes are included, each release mode comprises three phases, including south-north straight release, main direction left-turning and straight release, and south-north left-turning release, wherein the main direction is south or north;
if M isL×MSAnd if the number is less than or equal to 0, the release mode comprises two phases, including south-north straight release and south-north left-turn release.
The further technical scheme is that second historical dynamic information is obtained from a plurality of randomly selected continuous release periods, wherein the second historical dynamic information comprises traffic information of each moving direction in each release period; acquiring real-time dynamic information from a current release period, wherein the real-time dynamic information comprises actual release duration of each dynamic direction in a current release mode;
and if the dynamic elimination rules of each phase of the key intersection are the same, executing the dynamic elimination rules according to the second historical dynamic information and the real-time dynamic information so as to update the release mode of the key intersection, wherein the dynamic elimination rules comprise the following steps:
setting the maximum release duration and the minimum release duration of the first motion direction in the first phase according to the traffic information, and recording as Tmax、Tmin；
Acquiring the actual release duration of the first movement direction in real time, recording the actual release duration as T, comparing the actual release duration with the maximum release duration and the minimum release duration respectively, and when T is reachedmin＜T＜TmaxWhen the moving direction elimination rule is not met, the first phase is released continuously, and the step of acquiring the actual release duration of the first moving direction in real time is executed again; when T ismin＜T＜TmaxAnd when the dynamic elimination rule is satisfied, or when T is more than or equal to TmaxAnd if all the movement directions are eliminated, eliminating the first phase and starting to execute a movement direction elimination rule on the next phase.
The further technical proposal is that the second historical dynamic information also comprises the information of each stage in each release periodThe number of vehicles, the moving direction release duration, the interval time of two adjacent vehicles in each moving direction, the total number of vehicles in each moving direction in the next phase and the actual interval time T of two adjacent vehicles in the current phase are included in the real-time dynamic informationn1；
The method for judging whether the dynamic elimination rule is met comprises the following steps:
for each selected release period, dividing the moving direction release duration of all phases of the release period into three stages, counting the number of vehicles in each stage, and executing a vehicle number mis-elimination rule to accurately count the number of vehicles in each moving direction in each stage;
calculating the average value of the number of vehicles in each stage of all the selected release periods, and recording the average value as
Determining the number n of channels in each moving direction and the space length l occupied by each vehicle, wherein the queuing length threshold of each moving direction vehicle is as follows:
selecting the maximum value in the average value of the vehicle number in each stage of the release period, dividing the maximum value by the corresponding moving release time length to obtain a quotient which is used as a vehicle number threshold and is recorded as Nmax；
Calculating the average value of the interval time of every moving direction two adjacent vehicles in all the selected release periods as the interval time threshold value of the two adjacent vehicles, and recording the average value as Tn；
And obtaining the actual vehicle queuing length of the next phase according to the total vehicle number N' of each moving direction in the next phase acquired in real time: l ═ N' × N × L;
calculating the actual vehicle number in each dynamic unit counting period as follows:
wherein, T1、T2、T3Respectively corresponding to each stageThe moving direction release duration;
respectively comparing the actual vehicle queuing length, the actual vehicle number and the actual interval time of the next phase acquired in real time with corresponding threshold values, determining a elimination standard value, and marking as P, wherein the comparison result is as follows:
if P is 1, the current motion direction is eliminated, if P is 0, the current motion direction is not eliminated, if at least one motion direction of the current phase is not eliminated, and the current phase is continuously released;
the condition [1] indicates that the number of vehicles in the current moving direction is small, the current moving direction needs to be eliminated, and otherwise, the condition [4] indicates that the current moving direction needs to be released continuously;
the condition [2] indicates that the distance between two adjacent vehicles in the current dynamic direction is large, the traffic flow is sparse, the current dynamic direction needs to be eliminated, and otherwise, the condition [5] indicates that the current dynamic direction needs to be released continuously;
the condition [3] indicates that the traffic flow of the next phase is larger and the number of vehicles in the current phase is less, and the current traffic direction needs to be eliminated, whereas the condition [6] indicates that the traffic flow of the next phase is denser and the current traffic direction needs to be released continuously.
The further technical scheme is that the second historical dynamic information also comprises total time T of each dynamic general vehicle passing through the stop lineAAnd the total number N of vehicles passing through the stop line in each moving direction in the last release periodAThe real-time dynamic information also comprises the actual passing time length T of each unit vehicle in each moving direction in the current release modeU；
And (3) executing a vehicle number false elimination rule to count the number of vehicles of each channel in each dynamic direction of each stage, wherein the method comprises the following steps:
setting the minimum passing time length and the maximum passing time length of a single vehicle in a certain random time period of action according to the traffic flow information, and respectively recording the minimum passing time length and the maximum passing time length as TUmin、TUmax；
Comparing the actual passing time of the unit vehicle with the minimum passing time and the maximum passing time respectively, and determining the number of vehicles in each channel in the moving direction, wherein the comparison result is as follows:
when T isUmin＜TU＜TUmaxAnd then, calculating the unit vehicle passing time length of the movement direction as follows:
setting the estimated time for the vehicle to pass through the stop line according to the running speed of the vehicle at the key intersection, and recording the time as TQ；
Comparing the passing time of the single vehicle with the estimated time to determine the number of vehicles in each channel in the moving direction, wherein the comparison result is as follows:
the method comprises the following steps of calculating phase balance time of a first phase after the first phase is eliminated, adding the phase balance time into the moving direction release time of the next phase, obtaining phase balance time of the last phase as first period balance time after the current release period is finished, adding the first period balance time into the green wave phase time of a coordination crossing until the last phase of the last coordination crossing, obtaining the phase balance time of the last phase as second period balance time, wherein the second period balance time is the phase balance total time of the green wave phase under green wave control, and the coordination crossing is a downstream crossing of a key crossing.
The further technical scheme is that the expression of the phase balance time is as follows: t isP＝Tmax-T；
The expression of the period balance time is: t isC＝TP', wherein TP' denotes the final phase balance in a release periodTime.
The beneficial technical effects of the invention are as follows:
the control method provided by the application effectively avoids the limitations that the passing of a single intersection is localized, the acquired traffic flow information is not comprehensive, the movement of the intersection is mistakenly eliminated, the phenomenon of import congestion and export overflow is easily generated in peak time, and the like. The method comprises the steps of obtaining real-time vehicle data by using a card alarm and a video flow detector under multi-intersection coordination control, fully considering release conditions in a plurality of selected periods during peak-to-peak and peak periods of a coordinated intersection, and implementing a prediction release mode and a real-time dynamic release mode, thereby reasonably and effectively implementing methods such as a single-point dynamic prediction release mode, a dynamic elimination rule, a vehicle number mistaken elimination rule, a downstream intersection dynamic elimination rule and the like of the coordinated intersection. Therefore, the smooth traffic flow of the trunk line, the accurate collection and statistics of traffic volume information, the maximum utilization rate of signal lamps and the coordination control release efficiency from a single intersection to a plurality of intersections are guaranteed. The existing vehicle data are used for predictive release and dynamic elimination release in the release, so that the passing time of the vehicle intersection is effectively reduced, and the passing efficiency of the coordinated intersection is improved. The signaler system is effectively and reasonably matched with the elimination rule based on the traffic data detected by the traffic signal detector and the video flow detector, so that intelligent traffic clearance of the intersection is realized.
Drawings
Fig. 1 is a flow chart of a predictive release mode as provided herein.
Fig. 2 is a flow chart of determining a dynamic elimination rule provided in the present application.
Fig. 3 is a flowchart of a determination process of a rule for eliminating a number of vehicles by mistake according to the present application.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The following terminology relating to this method is briefly introduced: the release period refers to the total duration of one release per direction or move, for example, the start of the release of things is one release period until the start of the next release of things. The releasing direction comprises a north-south direction and an east-west direction, and the corresponding phase of the releasing direction comprises a north-south left turn, a south-north straight line, an east-west left turn and an east-west straight line. The eight major directions include south straight going, south left turning, north straight going, north left turning, east straight going, east left turning, west straight going, and west left turning. Phase is also the current release pattern, e.g. a north-south straight motion releasing a match means that one phase, a south left turn and a north left turn are released together is also one phase.
The application discloses a multi-interface coordination self-adaptive control method based on a card alarm and a video detector, and because the method for predicting the release mode in the peak flat period is the same as the method for predicting the release mode in the peak flat period, the method for predicting the release mode in the peak flat period is explained in detail in the embodiment, and the method comprises the following steps:
step 1: and taking the north-south direction as a releasing direction, wherein the corresponding phases are south-north left-turn and south-north straight going, and randomly selecting three continuous releasing cycles for coordinating the peak-balancing time period of the intersection as reference cycles.
Step 2: and acquiring first historical dynamic information of the reference period through a card alarm and a video detector, wherein the first historical dynamic information comprises various moving traffic information and various moving release duration of each release period. And executing a release rule according to the first historical dynamic information to predict a release mode of a future release cycle of the coordinated intersection peak-leveling period.
As shown in fig. 1, the method specifically comprises the following steps:
step 21: setting transitional release time of two phases according to traffic information, and recording as TriThe transition release time is the sum of the green light flashing time and the yellow light on-off time.
Step 22: and calculating the average release duration of each movement direction of the reference period (namely three release periods) according to the release duration of each movement direction of each release period.
Step 23: respectively calculating the difference between the average release duration of the two moving directions relative to the release direction, and recording the difference as ui。
Step 24: by comparing uiAnd TriDetermines the comparison value of the two phases.
The comparison values of the two phases are respectively ML、MSThe comparison results are as follows:
wherein u is1、u2Is the difference between the average release duration of the south/north left turn and the south/north straight going, and u1＝NLt-SLt，NLtAverage let-go duration for north left turn, SLtAverage release duration for south left turn, u2＝NSt-SSt，NStAverage release duration for north straight-through, SStThe average release time length of the south straight line is obtained; tr1Passing time, Tr, for transitions between left turn from north to south2And (5) allowing the time for the transition of the south-north straight line.
Step 25: and determining a release mode of a future release cycle of the coordinated intersection peak-leveling period according to the two comparison values.
If M isL×MS>0, two release modes are included, the first release mode is mainly released in the north direction and comprises three phases. The first phase is a south-north straight line, the second phase is a north left turn and north straight line, and the third phase is a south-north left turn line. It should be noted that in this case, there are more vehicles traveling straight in the north direction and fewer vehicles turning left in the south direction. The second release mode is mainly release in the south direction and comprises three phases. The first phase is the south-north straight release, the second phase is the south-left turn and south-straight release, and the third phase is the south-north left turn release. It should be noted that in this case, there are more vehicles traveling straight in the south and fewer vehicles turning left in the north.
If M isL×MSAnd if the number is less than or equal to 0, the release mode comprises two phases including south-north straight release and south-north left-turn release.
And step 3: determining the current release mode of the key intersection according to the release rule, acquiring second historical dynamic information and real-time dynamic information of the key intersection through a card alarm and a video detector, and executing a dynamic elimination rule according to the second historical dynamic information and the real-time dynamic information so as to update the release mode of the key intersection.
Obtaining second historical dynamic information from three randomly selected continuous releasing cycles, wherein the second historical dynamic information comprises the number N of vehicles in each stage of each releasing cycleiMoving direction release duration TiInformation of traffic flow of each moving direction, interval time of two adjacent vehicles of each moving direction, and total time T of passing stop line of total vehicles of each moving directionAAnd the total number N of vehicles passing through the stop line in each moving direction in the last release periodA(ii) a Acquiring real-time dynamic information from the current release period, wherein the real-time dynamic information comprises the actual release time length T of each movement direction in the current release mode and the actual passing time length T of a unit vehicleUThe total number N' of vehicles in each moving direction in the next phase and the actual interval time T between two adjacent vehicles in the current phasen1。
Since the trend elimination rules of each phase at the critical intersection are the same, the embodiment takes the first phase as an example for detailed description, and as shown in fig. 2, the method specifically includes the following sub-steps:
step 31: setting the maximum release duration and the minimum release duration of the first motion direction in the first phase according to the traffic information, and recording as Tmax、Tmin。
Step 32: acquiring the actual release duration T of the first movement direction in real time, comparing the actual release duration T with the maximum release duration and the minimum release duration respectively, and when T is reachedmin＜T＜TmaxAnd when the moving direction elimination rule is not satisfied, the first phase is released continuously, and the step of acquiring the actual release duration of the first moving direction in real time is executed again. When T ismin＜T＜TmaxAnd when the dynamic elimination rule is satisfied, or when T is more than or equal to TmaxAnd if all the movement directions are eliminated, eliminating the first phase and starting to execute a movement direction elimination rule on the next phase.
The method for judging whether the dynamic elimination rule is met comprises the following steps:
step 321: and setting a vehicle queuing length threshold value, and acquiring the actual vehicle queuing length of the next phase in real time.
1) Considering the difference of the traffic flow density (namely the number of passing vehicles in unit time) at the beginning, during and at the end of the phase-oriented release in one release period of the actual intersection, the moving-oriented release duration of all the phases of the release period is divided into three stages for each selected release period. 1/3 from the beginning of the phase to the time length of the moving direction release is taken as the first phase, namely the starting phase, and the number of the vehicles counted in the first phase is marked as N1(ii) a The second stage, namely the middle stage of release, is 1/3 to 2/3 of the moving direction release duration, and the number of the vehicles counted in the stage is marked as N2(ii) a The third phase, namely the end phase, is the time phase from 2/3 to the end of the movement direction release time length, and the number of the vehicles counted in the phase is marked as N3。
2) Considering that the actual intersection is extremely congested or the sizes of vehicles are different, a vehicle number miselimination rule is executed to accurately count the number of vehicles in each channel in each movement of each stage.
3) Calculating the average value of the number of vehicles in each stage of the three release periods, and recording the average value as
Determining the number n of channels in each moving direction and the space length l occupied by each vehicle, wherein the queuing length threshold of each moving direction vehicle is as follows:
optionally, if the number of channels in a certain moving direction is greater than 1, the number of vehicles counted in this stage should be multiplied by the number of lanes to serve as the number of vehicles in this stage. The length of the space occupied by each vehicle can be an empirical value, namely l is 7 m.
4) And obtaining the actual vehicle queuing length of the next phase according to the total vehicle number N' of each moving direction in the next phase acquired in real time: l is N' × N × L.
Step 322: a vehicle number threshold is set, and the actual vehicle number in each movement unit counting period is calculated.
1) Selecting the maximum value in the average value of the vehicle number in each stage of the release period, dividing the maximum value by the corresponding moving release time length to obtain a quotient which is used as a vehicle number threshold and is recorded as Nmax。
2) Calculating the actual number of vehicles in each dynamic unit counting period as follows:
wherein, T1、T2、T3Respectively corresponding moving direction release duration of each stage.
Step 323: setting the time interval threshold value of two adjacent vehicles, and acquiring the actual time interval T of the two adjacent vehicles at the current phase in real timen1。
Calculating the average value of the interval time of each moving direction of two adjacent vehicles in three release periods as the interval time threshold value of two adjacent vehicles, and recording the average value as Tn。
Step 324: the balance time is calculated.
The balance time is divided into two types, one is the phase balance time which is marked as TP. The phase balance time is the difference between the phase maximum green time and the phase actual green light emitting time, and as can be seen from step 32, the expression of the phase balance time is: t isP＝Tmax-T, where necessary, TPThe balance can be positive balance or negative balance;
the other is the period balance time, which is marked as TC. The cycle balance time is the last phase balance time T in the release cycleP', the expression is: t is a unit ofC＝TP′。
Step 325: the actual vehicle queuing length L and the actual vehicle number N of the next phase acquired in real timetAnd the actual interval time Tn1Respectively comparing with corresponding threshold values, determining an elimination standard value, marking as P, and obtaining the following comparison results:
if P is 1, the current motion direction is eliminated, if P is 0, the current motion direction is not eliminated, if at least one motion direction of the current phase is not eliminated, and the current phase is continuously released.
The condition [1] indicates that the vehicles in the current moving direction are fewer, and the current moving direction needs to be eliminated. On the contrary, the condition [4] indicates that the vehicles in the current moving direction are more and the current moving direction needs to be released continuously.
The condition [2] indicates that the distance between two adjacent vehicles in the current moving direction is large, the traffic flow is sparse, and the current moving direction needs to be eliminated. On the contrary, the condition [5] indicates that the distance between two adjacent vehicles in the current moving direction is small, the traffic flow is dense, and the current moving direction needs to be released continuously.
The condition [3] indicates that the traffic flow of the next phase is larger, the number of vehicles moving to the current phase is less, and the current moving direction needs to be eliminated. On the contrary, the condition [6] indicates that the traffic flow of the moving direction in the next phase is denser, and the current moving direction needs to be released continuously.
The maximum release time T of each movement direction of the coordinated intersection can be obtained by adopting the same methodmax' and minimum Release duration Tmin', vehicle queue length threshold per heading Lmax', vehicle number threshold Nmax' and adjacent two-vehicle interval time threshold Tn'. Wherein the coordination crossing is a downstream crossing of the key crossing.
And when the first phase is eliminated, calculating the phase balance time of the first phase, adding the phase balance time into the moving direction release duration of the next phase, taking the phase balance time of the last phase as the first period balance time after the current release period is finished, adding the first period balance time into the duration of the green wave phase of the coordination intersection until the last phase of the last coordination intersection, and taking the phase balance time of the last phase as the second period balance time, wherein the second period balance time is the total phase balance time of the green wave phase under the control of the green wave.
In step 321, a vehicle number mis-elimination rule is executed to accurately count the number of vehicles in each channel in each dynamic direction at each stage, as shown in fig. 3, the method specifically includes the following steps:
1) setting the minimum passing time length and the maximum passing time length of the unit vehicle in the first dynamic random time interval according to the traffic flow information, and respectively recording the minimum passing time length and the maximum passing time length as TUmin、TUmax。
2) The actual passing time length T of the unit vehicleURespectively with the minimum passage time TUminAnd maximum passage duration
TUmaxComparing the obtained data to determine the number N of vehicles in each channel in the moving directionU', the comparison results are as follows:
3) when T isUmin＜TU＜TUmaxThen, further judgment is needed: calculating unit vehicle passing time length T of moving directionU' is:
4) setting the estimated time of the vehicle passing through the stop line according to the running speed of the vehicle at the key intersection, and recording the estimated time as TQ。
5) Unit vehicle passing time length TU' and estimated time TQComparing the obtained data to determine the number N of vehicles in each channel in the moving directionU', the comparison results are as follows:
the method comprises the steps of obtaining real-time vehicle data by using a card alarm and a video flow detector under multi-intersection coordination control, fully considering release conditions in a plurality of selected periods during peak-to-peak and peak periods of a coordinated intersection, and implementing a prediction release mode and a real-time dynamic release mode, thereby reasonably and effectively implementing methods such as a single-point dynamic prediction release mode, a dynamic elimination rule, a vehicle number mistaken elimination rule, a downstream intersection dynamic elimination rule and the like of the coordinated intersection. Therefore, the smooth traffic of the main line traffic flow, the accurate collection and statistics of traffic volume information, the maximum utilization rate of signal lamps and the coordination control release efficiency from a single intersection to a plurality of intersections are guaranteed. The existing vehicle data are used for predictive release and dynamic elimination release in the release, so that the passing time of the vehicle intersection is effectively reduced, and the passing efficiency of the coordinated intersection is improved. The signaler system is effectively and reasonably matched with the elimination rule based on the traffic data detected by the traffic signal detector and the video flow detector, so that intelligent traffic clearance of the intersection is realized.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above examples. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (7)
1. A multi-interface coordination self-adaptive control method based on a card alarm and a video detector is characterized by comprising the following steps:
respectively selecting the releasing cycles of the peak balancing time period and the peak balancing time period of the coordinated intersection as reference cycles, wherein the releasing modes of the releasing cycles are the same;
acquiring first historical dynamic information of the reference cycle through a card alarm and a video detector, and respectively predicting release modes of future release cycles of the coordinated intersection in the peak-off period and the peak period according to release rules executed by the first historical dynamic information;
determining a current release mode of the key intersection according to the release rule, acquiring second historical dynamic information and real-time dynamic information of the key intersection through a card alarm and a video detector, and acquiring the second historical dynamic information from several randomly selected continuous release periods, wherein the second historical dynamic information comprises the number of vehicles in each stage, the release duration in the dynamic direction, the interval time between every two adjacent vehicles in the dynamic direction and the traffic flow information in each dynamic direction; acquiring the real-time dynamic information from the current release period, wherein the real-time dynamic information comprises the actual release duration of each moving direction in the current release mode, the total number of vehicles in each moving direction in the next phase andactual interval time T of two adjacent vehicles in current phasen1；
The dynamic elimination rules of each phase of the key intersection are the same, and the dynamic elimination rules are executed according to the second historical dynamic information and the real-time dynamic information, so that the release mode of the key intersection is updated, and the method comprises the following steps:
setting the maximum release duration and the minimum release duration of the first motion direction in the first phase according to the traffic information, and recording as Tmax、Tmin；
Acquiring the actual release duration of the first movement direction in real time and recording the actual release duration as T, then comparing the actual release duration with the maximum release duration and the minimum release duration respectively, and when T is reachedmin<T<TmaxWhen the dynamic elimination rule is not met, the first phase is released continuously, and the step of acquiring the actual release duration of the first dynamic direction in real time is executed again; when T ismin<T<TmaxAnd when the dynamic elimination rule is satisfied, or when T is more than or equal to TmaxWhen the first phase is selected, the first phase is selected according to the motion direction selection rule, and the step of setting the maximum release duration and the minimum release duration of the next motion direction in the first phase is executed;
the method for judging whether the dynamic elimination rule is met comprises the following steps:
for each selected release period, dividing the moving direction release duration of all phases of the release period into three stages, counting the number of vehicles in each stage, and executing a vehicle number mis-elimination rule to accurately count the number of vehicles in each moving direction in each stage;
calculating the average value of the number of vehicles in each stage of all the selected release periods, and recording the average value as
Determining the number n of channels in each moving direction and the space length l occupied by each vehicle, wherein the queuing length threshold of each moving direction vehicle is as follows:
selecting the maximum value in the average value of the vehicle number in each stage of the release period, dividing the maximum value by the corresponding moving release time length to obtain a quotient which is used as a vehicle number threshold and is recorded as Nmax；
Calculating the average value of the interval time of every moving direction two adjacent vehicles in all the selected release periods as the interval time threshold value of the two adjacent vehicles, and recording the average value as Tn；
And obtaining the actual vehicle queuing length of the next phase according to the total vehicle number N' of each moving direction in the next phase acquired in real time: l ═ N' × N × L;
calculating the actual vehicle number in each dynamic unit counting period as follows:
wherein, T1、T2、T3Respectively corresponding moving direction release duration of each stage;
and respectively comparing the actual vehicle queuing length, the actual vehicle number and the actual interval time of the next phase acquired in real time with corresponding threshold values, determining an elimination standard value, and recording as P, wherein the comparison result is as follows:
if P is 1, the current motion direction is eliminated, if P is 0, the current motion direction is not eliminated, if at least one motion direction of the current phase is not eliminated, and the current phase is continuously released;
the condition [1] indicates that the vehicles in the current moving direction are fewer, the current moving direction needs to be eliminated, and otherwise, the condition [4] indicates that the current moving direction needs to be released continuously;
the condition [2] indicates that the distance between two adjacent vehicles in the current dynamic direction is large, the traffic flow is sparse, the current dynamic direction needs to be eliminated, and otherwise, the condition [5] indicates that the current dynamic direction needs to be released continuously;
the condition [3] indicates that the current behavior needs to be eliminated when the traffic flow of the next phase is larger and the number of vehicles in the current phase is less, whereas the condition [6] indicates that the traffic flow of the next phase is denser and the current behavior needs to be released continuously.
2. The multi-intersection coordination adaptive control method based on the police card and the video detector as claimed in claim 1, wherein the first historical dynamic information comprises traffic information of each moving direction, and a releasing time length of each moving direction for each releasing period; executing a release rule according to the first historical dynamic information to predict a release mode of a future release cycle of the coordinated intersection flat peak period, wherein the release mode comprises the following steps:
in one release direction, transitional release time of two phases is set according to traffic information and is marked as TriThe releasing direction comprises a north-south direction and an east-west direction, and the phase comprises a north-south left turn and a north-south straight line, an east-west left turn and an east-west straight line;
calculating the average release duration of each movement direction of the reference period according to the release duration of each movement direction of each release period;
respectively calculating the difference between the average release duration of the two moving directions relative to the release direction, and recording the difference as ui；
By comparing uiAnd TriDetermining a comparison value of the two phases;
and determining the release mode of the future release cycle of the peak-balancing period of the coordinated intersection according to the two comparison values.
3. The adaptive control method for multi-interface coordination based on traffic police and video detector as claimed in claim 2, wherein the u-comparison is performediAnd TriDetermines a comparison value of the two phases, including:
if the releasing direction is the north-south direction, the corresponding phases are the north-south left turn and the north-southGo straight, and record the comparison value of two phases as ML、MSThe comparison results are as follows:
wherein u is1、u2Is the difference between the average release time length of the left turn of south/north and the average release time length of the straight travel of south/north, and u1＝NLt-SLt，NLtAverage let-off duration for north left turn, SLtAverage release duration for south left turn, u2＝NSt-SSt，NStAverage release duration for north straightforward movement, SStThe average release time length of the south straight line is obtained; tr1Passing time, Tr, for transitions between left turn from north to south2And (5) allowing the time for the transition of the south-north straight line.
4. The adaptive multi-intersection coordination control method based on a traffic police and video detector as claimed in claim 3, wherein said determining the release mode of the future release cycle of the coordinated intersection flat peak period according to the magnitude of the two comparison values comprises:
if M isL×MS>0, two release modes are included, each release mode comprises three phases, including south-north straight release, main direction left-turning and straight release, and south-north left-turning release, wherein the main direction is south or north;
if M isL×MSAnd if the number is less than or equal to 0, the release mode comprises two phases, including south-north straight release and south-north left-turn release.
5. The multi-intersection coordination adaptive control method based on police and video detectors as claimed in claim 1, wherein said second historical dynamic information further comprises total vehicles of each moving directionTotal time T for vehicle to pass through stop lineAAnd the total number N of vehicles passing through the stop line in each moving direction in the last release periodAThe real-time dynamic information also comprises the actual passing time length T of each unit vehicle in each moving direction in the current release modeU；
The method for counting the number of vehicles in each channel in each motion direction of each stage by executing the vehicle number false elimination rule comprises the following steps:
setting the minimum passing time length and the maximum passing time length of a single vehicle in a certain random time period of action according to the traffic flow information, and respectively recording the minimum passing time length and the maximum passing time length as TUmin、TUmax；
Comparing the actual passing time length of the unit vehicle with the minimum passing time length and the maximum passing time length respectively, and determining the number of vehicles in each channel in the moving direction, wherein the comparison result is as follows:
when T isUmin<TU<TUmaxAnd then, calculating the unit vehicle passing time length of the movement direction as follows:
and setting the estimated time for the vehicle to pass through the stop line according to the running speed of the vehicle at the key intersection, and recording the estimated time as TQ；
Comparing the unit vehicle passing time with the estimated time to determine the number of vehicles in each channel in the moving direction, wherein the comparison result is as follows:
6. the adaptive control method for multi-intersection coordination based on a card alarm and video detector as claimed in claim 5, wherein when the first phase is eliminated, the phase balance time of the first phase is calculated and added to the moving direction release duration of the next phase, until the current release period is over, the phase balance time of the last phase is obtained as the first period balance time, the first period balance time is added to the duration of the green wave phase of the coordination intersection until the last phase of the last coordination intersection, the phase balance time of the last phase is obtained as the second period balance time, the second period balance time is the total phase balance time of the green wave phase under green wave control, and the coordination intersection is the downstream intersection of the key intersection.
7. The multi-interface coordination adaptive control method based on the policeman and the video detector as claimed in claim 6, wherein the expression of the phase balance time is: t isP＝Tmax-T；
The expression for the period balance time is: t isC＝TP', wherein TP' denotes the last phase balance time within a release period.
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