CN115063988B - Cross-traffic subarea signal cooperative control method for emergency vehicle priority - Google Patents
Cross-traffic subarea signal cooperative control method for emergency vehicle priority Download PDFInfo
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Abstract
The invention provides a cross-traffic subarea signal coordination control method for emergency vehicle priority, which is characterized in that basic characteristics of emergency path traffic coordination control and associated traffic subarea control are synthesized, constraint conditions of associated traffic subarea control are considered on the premise of taking the emergency traffic coordination priority, theoretical methods such as hierarchical coordination control and a double-layer planning model are adopted, an emergency path polymorphic traffic flow hierarchical distributed cooperative control model of the cross-traffic subarea is constructed, and finally an emergency path and associated traffic subarea cooperative control method is formed. The invention can establish the works of the urban road emergency traffic signal coordination control method and technology under the emergency response background, which is helpful to improve the safety toughness of the urban road network traffic signal control system and provide auxiliary decision support for traffic managers to formulate emergency traffic control strategies and schemes.
Description
Technical Field
The invention belongs to the technical field of urban safety and toughness traffic keys, and particularly relates to a cross-traffic subarea signal coordination control method for emergency vehicles.
Background
In the current situation of urban development with increasingly serious traffic problems, the problems of traffic safety, efficiency and the like caused by emergency response of emergencies are more remarkable, for example, rescue vehicles are often blocked in traffic flow in a crowded society, even secondary traffic accidents are caused, and precious emergency rescue time is consumed. Particularly, in large cities with dense population and high accumulation of economic elements, urban road networks are dense, motor vehicle flow is large, traffic environment is complex and the like, emergency vehicles cannot respond to the emergency vehicles in time due to the lack of effective grasp of traffic states along the lines and the space-time limitation of the traditional traffic information acquisition mode. How to guarantee the priority of emergency traffic, solve the emergency traffic flow coordination mechanism of the coupling of emergency traffic and social traffic, realize the traffic flow cooperative control of the associated traffic subareas and the emergency paths, and become the problem to be solved in building the urban safety and toughness traffic system.
The existing method generally does not consider uncertainty of emergency traffic routes caused by emergencies, is insufficient in analysis of association factors such as comprehensive road traffic conditions, emergency vehicle driving space-time tracks, variable phase differences and the like, is ambiguous in traffic flow relationship of emergency vehicles and social vehicles, and particularly faces the situation that intersections of the original traffic control subareas and the overlapping areas of the emergency routes are coordinated at the same time, and a mature cooperative control relationship of two types of traffic is not formed on the basis of signal coordination of the association traffic subareas. Aiming at the traffic cooperative control problem of an overlapping area of an emergency path and a traffic subarea, a traffic subarea basic constraint condition is considered, a multi-state traffic flow coupling relation is formed by fusing the traffic subarea traffic flow and the emergency traffic flow, the emergency path emergency traffic flow is taken as priority, a traffic flow cooperative control strategy of an overlapping area crossing the traffic subarea is provided, and a multi-state traffic hierarchical distributed cooperative closed-loop control technology of the emergency path crossing the traffic subarea is established by utilizing theoretical methods such as hierarchical cooperative control and double-layer planning.
Compared with the prior art, the invention has the following advantages:
1) The technology combines the polymorphic traffic flow rule relation and the dynamics model of the cross traffic subarea, builds a hierarchical distributed cooperative control model of the emergency path and the associated traffic subarea in order to form an emergency path polymorphic traffic flow cooperative control theoretical method with the influence of the associated traffic subarea when the emergency traffic priority is a basic target.
2) The technology establishes a continuity control mechanism of crossing traffic subareas, forms an emergency path polymorphic traffic flow cooperative control mode, establishes layered hierarchical distributed cooperative control of combining an emergency path and an associated traffic subarea, innovatively responds to the requirement of emergency traffic priority traffic of an emergency, meets the low delay time of social traffic, simultaneously gives consideration to a cooperative mechanism and safety guarantee for solving the conflict between the social traffic and the emergency traffic right from the aspect of a scientific scheme, and expands a new research method and path for road network emergency traffic control under urban emergency situations.
Disclosure of Invention
The invention discloses a cross-traffic subarea signal cooperative control method for emergency vehicle priority, which aims to solve the realistic background problems of road right demand conflict, potential safety hazard and the like existing in emergency traffic and normal social traffic, and a technical system is constructed from the angles of polymorphic traffic flow mechanical characteristic analysis, emergency traffic flow control modeling, cross-traffic subarea polymorphic traffic flow cooperative control and the like in emergency state and normal state. Firstly, on the basis of establishing a basic relationship rule of emergency traffic flow and social traffic flow, constructing a polymorphic traffic flow mechanical model, and secondly, providing a hierarchical distributed cooperative control method of the polymorphic traffic flow of the emergency path across traffic cells for solving the problem of the traffic right of the polymorphic traffic flow of the emergency path and the associated traffic cells. Based on traffic wave, multi-lane cellular automaton and other theoretical methods, the invention combines traffic signal to identify the space-time characteristics of emergency traffic flow and analyze the relationship law of the emergency traffic flow with the background social traffic flow, fuses the relationship and dynamics model of the multi-state traffic flow operation in emergency and normal state, synthesizes the circulating logic relationship related to data acquisition, communication transmission, calculation analysis and field control according to the basic principle of a traffic information physical system, designs a closed-loop control structure comprehensively applied to the related traffic subarea hierarchical coordination control technology and the emergency vehicle (team) priority distributed coordination control method, and establishes a multi-state traffic flow hierarchical distributed coordination control method oriented to the cross traffic subareas. The technical flow of the invention is shown in figure 1. The technical scheme is as follows:
the method for cooperatively controlling the cross-traffic subarea signals of the emergency vehicles is characterized by comprising the following steps of:
step one: firstly, collecting signal running states of an upstream intersection and a downstream intersection, running speed of an emergency vehicle, distance between the emergency vehicle and the downstream intersection, queuing length of a social vehicle, topology data of the upstream intersection and the downstream intersection and the like, and analyzing traffic space-time evolution rules of the emergency vehicle on an emergency path by utilizing traffic wave and vehicle road collaborative theory;
step two: comprehensively considering constraint conditions such as a parameter adjustable interval, each phase saturation coordination target, emergency coordination phase queuing emptying time and the like of an intersection signal, taking a coordination phase green light starting time, green light duration and variable phase difference as optimization variables, designing a dynamic planning state transfer equation for coordinating phase emergency vehicle priority, establishing a multi-objective function for coordinating phase emergency vehicle non-stop traffic and minimizing intersection social vehicle delay time of the intersection, combining a polymorphic fused road traffic flow mechanical model and an emergency traffic priority traffic coordination strategy, and establishing a Markov-based emergency vehicle priority distributed cooperative control model to form an emergency path traffic coordination control method for preferentially passing emergency vehicles;
the emergency path traffic coordination control method for the emergency vehicles to pass preferentially comprises the following steps:
(1) establishing a multi-objective function of minimizing intersection coordination phase emergency vehicle (team) non-stop traffic and intersection social vehicle delay time:
PI＝∑(D emergency +minD Society )
Wherein D is Emergency For delaying time of emergency vehicle, D Society Delay time for social vehicles;
(2) constructing a distributed cooperative control model of the emergency vehicles of adjacent intersections:
wherein J is s In order to be a goal of the synergy,
input phase for intersection, k lj Inputting the number of phase lanes for the intersection, C cap For traffic capacity, p lj (t) is the output phase of adjacent intersections, h lj And outputting the phase lane number for the adjacent intersection, wherein m is the input phase number of the adjacent intersection, and c is the output phase number of the adjacent intersection. N (N) j (t) is the number of vehicles in the time t for road segment j; q (Q) j_in (t) is the number of vehicles input to road segment j during time t; q (Q) j_out (t) is the number of output vehicles of road segment j in time t; alpha is the steering proportion of the traffic flow from the upstream road section to the downstream road section; />
η i For the dissipation ratio of the traffic flow on road section i, < >>
And->
The upstream road segment set and the downstream road segment set of the road segment j are respectively. />
(3) Intersection control model:
wherein p is lj For the intersection to be phase-coordinated,
for the coordination phase control target, f (t) is the input phase effective green time, y (t) is the non-input phase effective green time, +.>
For the length of the road section->
U is a residual road section space threshold value for judging whether the intersection is subjected to signal optimization or not, if the u is larger than the threshold value, the non-input phase is subjected to control signal optimization, o is the phase difference of the adjacent intersection, L is the road section length, N is the number of vehicles, lambda is the proportional coefficient of the number of vehicles of the road section, A is the road section occupancy threshold value, x is the road section space occupancy, and v is the average speed of the road section;
step three: the method comprises the steps of integrating road traffic signal control, relating to data acquisition, communication transmission, calculation analysis and on-site control, designing a closed loop control structure comprehensively applied to a related traffic subarea hierarchical coordination control technology and an emergency vehicle priority distributed cooperative control method, considering related constraints such as green wave bandwidth and the like of a related subarea social traffic flow, determining an executable space of a priority optimization variable of an emergency vehicle (team), determining public periods and phase differences of each intersection of the related subareas according to traffic flow states, timing parameters and the like of the roads of the intersections in the closed loop overall control structure, and transmitting the public periods and the phase differences to a control level; in the control stage, on one hand, each intersection performs preliminary green letter comparison timing optimization according to public period, phase difference and road traffic flow state; on the other hand, on the basis of the preliminary timing optimization result, constraint conditions such as the green wave bandwidth and the like of the social traffic coordination of the associated subarea are considered, the executable space of the emergency traffic control variable of each intersection is determined, then the emergency path traffic coordination control method with priority traffic is adopted, the signal timing parameters of the priority of the emergency traffic of each intersection are determined, and the signal timing parameters are fed back to the coordination level;
step four: in the process, the intelligent algorithm is utilized to carry out the operation analysis of model solving, and the signal cooperative control scheme crossing traffic subareas can be obtained through iterative calculation until the result is converged.
The invention has the following beneficial technical effects:
1) Considering the requirements of emergency traffic urgency and safety, synthesizing the coordination relationship between emergency traffic priority and social traffic, exploring the law of the time-space evolution relationship of the polymorphic traffic flow of the emergency traffic flow and the social traffic flow under the influence of signal control on the basis of analyzing the time-space track characteristics possibly occurring on an emergency path, constructing an urban polymorphic traffic flow mechanical model, and compared with the traditional method for only increasing the green light time of a coordination phase or reducing the red light time, establishing an optimal traffic coordination control method of the emergency path from the analysis of the mechanism characteristics of the emergency traffic flow.
2) On one hand, the invention can provide meaningful exploration and practice for theories and methods of urban polymorphic traffic flow mechanics mechanism, cross-subarea polymorphic traffic flow cooperative control of emergency traffic and social association traffic coupling and the like; on the other hand, a new reference and approach are provided for solving the problems of urban emergency traffic control strategies, social traffic orchestration, emergency management and control evaluation and the like under road network emergency response. The research not only has important application prospect in the fields of urban road network emergency traffic flow mechanism analysis, modeling and cooperative control under emergencies, but also has important promotion effect on further development of urban traffic control theory and method.
3) The invention can provide safe, timely and efficient technical support and decision support for quick and effective implementation of urban traffic emergency response. The traffic control strategy and the scheme corresponding to the emergency traffic demand can be customized according to the emergency traffic demand, so that the limited road traffic resources in the emergency area are fully and efficiently utilized safely, and the maximum efficiency of the traffic resources is exerted as much as possible. In addition, the method has great practical significance and application value for improving the toughness capability of urban traffic emergency control and management, reducing economic loss and casualties caused by emergencies and influencing social traffic.
Drawings
FIG. 1 is a flow chart of coordinated control of signals across traffic sub-zones with emergency vehicle priority.
And (2) an analysis chart of the space-time evolution law of emergency vehicle (team) traffic.
FIG. 3 is a basic frame diagram of a traffic coordination strategy for preferential traffic of emergency vehicles (fleets).
FIG. 4 is a Markov-based model of a prioritized distributed cooperative control architecture for emergency vehicles (fleets).
FIG. 5 is a schematic diagram of an emergency path overlapping a plurality of associated traffic sub-zones.
FIG. 6 is a diagram of a closed loop coordinated control of polymorphic traffic flow across traffic sub-regions.
FIG. 7 associates a sub-zone hierarchical control with an emergency vehicle (fleet) priority distributed cooperative control model.
Detailed Description
The technical scheme adopted in the summary section is described in detail.
Step one: firstly, collecting signal running states of an upstream intersection and a downstream intersection, running speeds of emergency vehicles (queues), distances between the emergency vehicles (queues) and the downstream intersection, queuing lengths of social vehicles, topology data of the upstream intersection and the downstream intersection and the like, and analyzing traffic space-time evolution rules of the emergency vehicles (queues) on an emergency path by utilizing traffic wave and vehicle path collaborative theory, wherein a polymorphic traffic flow space-time evolution schematic is shown in figure 2.
Aiming at the situation that social vehicle queuing, the condition that the phase is in a red light state and the like affect the preferential passing of emergency vehicles (queues) in the emergency coordination phase of the emergency path direction, the signal timing scheme of a downstream intersection, the distance, the position and the speed of the emergency vehicles (queues) from the downstream intersection, the queuing of the intersection vehicles and other relevant parameter state information of the emergency vehicles (queues), the influence rule relation between the social traffic and the emergency traffic under different scenes is analyzed, and a traffic flow coordination control strategy for preferential passing of the emergency vehicles (queues) is formulated, wherein a basic framework is shown in figure 3.
Step two: the method is characterized by comprehensively considering constraint conditions such as an intersection signal timing parameter adjustable interval, each phase saturation coordination target, emergency coordination phase queuing emptying time and the like, taking a coordination phase green light starting time, green light duration and variable phase difference as optimization variables, designing a dynamic planning state transfer equation of priority of coordination phase emergency vehicles (queues), establishing a multi-objective function of intersection coordination phase emergency vehicles (queues) non-stop traffic and minimum intersection social vehicle delay time, combining a polymorphic fused road traffic flow mechanical model and an emergency traffic priority traffic coordination strategy, and establishing a Markov-based emergency vehicle (queue) priority distributed cooperative control model, wherein the basic structure is shown in fig. 4, and an emergency path traffic coordination control method facing emergency vehicle (queues) priority traffic is formed.
The emergency vehicle (team) priority distribution type cooperative control method comprises the following steps:
(1) the intersection control targets are as follows:
PI＝∑(D emergency +minD Society )
Wherein D is Emergency For delaying time of emergency vehicle, D Society Delay time for social vehicles.
(2) Adjacent intersection collaborative model:
wherein J is s In order to be a goal of the synergy,
input phase for intersection, k lj Inputting the number of phase lanes for the intersection, C cap For traffic capacity, p lj (t) is the output phase of adjacent intersections, h lj And outputting the phase lane number for the adjacent intersection, wherein m is the input phase number of the adjacent intersection, and c is the output phase number of the adjacent intersection. N (N) j (t) is the number of vehicles in the time t for road segment j; q (Q) j_in (t) is the number of vehicles input to road segment j during time t; q (Q) j_out (t) is the number of output vehicles of road segment j in time t; alpha is the steering proportion of the traffic flow from the upstream road section to the downstream road section; />
η i For the dissipation ratio of the traffic flow on road section i, < >>
And->
The upstream road segment set and the downstream road segment set of the road segment j are respectively.
(3) Intersection control model:
wherein p is lj For the intersection to be phase-coordinated,
for the coordination phase control target, f (t) is the input phase effective green time, y (t) is the non-input phase effective green time, +.>
For the length of the road section->
And u is a residual road space threshold value for judging whether the intersection is subjected to signal optimization or not, if the u is larger than the threshold value, the non-input phase is subjected to control signal optimization, o is the phase difference of the adjacent intersections, L is the road length, N is the number of vehicles, lambda is the proportional coefficient of the number of vehicles of the road, A is the road occupancy threshold value, x is the road space occupancy, and v is the average speed of the road.
For the situation that the emergency path and the intersection of the overlapping area of the associated traffic subareas are coordinated simultaneously, as shown in fig. 5, the emergency path sequentially passes through four traffic subareas from the starting point to the ending point. Taking emergency traffic priority as a basic target, considering basic constraint conditions of an emergency path crossing a plurality of traffic cells, and analyzing the operation rule relation of the polymorphic traffic flow under emergency and normal state.
Step three: the comprehensive road traffic signal control relates to the circulation logic relation of data acquisition, communication transmission, calculation analysis and field control, and designs a closed-loop control structure for comprehensively applying the related traffic sub-region hierarchical coordination control technology and the emergency vehicle (team) priority distributed cooperative control method, as shown in fig. 6. Considering the related constraints such as green wave bandwidth and the like of social traffic flows of the associated subareas, determining the executable space of a priority optimization variable of an emergency vehicle (team), determining the public period and the phase difference of each intersection of the associated subareas according to the traffic flow state, timing parameters and the like of the intersection in a closed-loop overall control structure, and transmitting the public period and the phase difference to a control stage; in the control stage, on one hand, each intersection performs preliminary green letter comparison timing optimization according to public period, phase difference and road traffic flow state; on the other hand, on the basis of the preliminary timing optimization result, constraint conditions such as the traffic flow coordination green wave bandwidth and the like of the society of the associated subareas are considered, the executable space of emergency vehicle (team) priority control variables (the starting moment of the emergency vehicle (team) priority coordination phase green light and the green light duration) of each intersection is determined, then, the signal timing parameters of the emergency vehicle (team) priority of each intersection are determined by adopting an emergency vehicle (team) priority distributed cooperative control method, and the signal timing parameters are fed back to the coordination level. The basic structural model is shown in fig. 7.
Step four: in the process, the intelligent algorithm is utilized to carry out the operation analysis of model solving, and the signal cooperative control scheme crossing traffic subareas can be obtained through iterative calculation until the result is converged.
Claims (1)
1. The method for cooperatively controlling the cross-traffic subarea signals of the emergency vehicles is characterized by comprising the following steps of:
step one: firstly, collecting signal running states of an upstream intersection and a downstream intersection, running speed of an emergency vehicle, distance between the emergency vehicle and the downstream intersection, queuing length of a social vehicle and topology data of the upstream intersection and the downstream intersection, and analyzing traffic space-time evolution rules of the emergency vehicle on an emergency path by utilizing traffic wave and vehicle path collaborative theory;
step two: comprehensively considering a timing parameter adjustable interval of an intersection signal, each phase saturation coordination target and an emergency coordination phase queuing emptying time constraint condition, taking a coordination phase green light starting time, a green light duration and a variable phase difference as optimization variables, designing a dynamic planning state transfer equation for coordinating phase emergency vehicle priority, establishing a multi-objective function for coordinating phase emergency vehicle non-stop traffic and minimizing intersection social vehicle delay time, combining a polymorphic fused road traffic flow mechanical model and an emergency traffic priority traffic coordination strategy, and establishing a Markov-based emergency vehicle priority distributed cooperative control model to form an emergency path traffic coordination control method for preferentially passing emergency vehicles;
the emergency path traffic coordination control method for the emergency vehicles to pass preferentially comprises the following steps:
(1) establishing a multi-objective function of minimizing intersection coordination phase emergency vehicle (team) non-stop traffic and intersection social vehicle delay time:
PI＝∑(D emergency +minD Society )
Wherein D is Emergency For delaying time of emergency vehicle, D Society Delay time for social vehicles;
(2) constructing a distributed cooperative control model of the emergency vehicles of adjacent intersections:
wherein J is s In order to be a goal of the synergy,
input phase for intersection, k lj Inputting the number of phase lanes for the intersection, C cap For traffic capacity, p lj (t) is the output phase of adjacent intersections, h lj And outputting the phase lane number for the adjacent intersection, wherein m is the input phase number of the adjacent intersection, and c is the output phase number of the adjacent intersection. N (N) j (t) is the number of vehicles in the time t for road segment j; q (Q) j_in (t) is the number of vehicles input to road segment j during time t; q (Q) j_out (t) is the number of output vehicles of road segment j in time t; alpha is the steering proportion of the traffic flow from the upstream road section to the downstream road section; />
η i For the dissipation ratio, eta, of the traffic flow on road section i i ＝Q j_out (t)/N j (t)，/>
And->
The upstream road segment set and the downstream road segment set of the road segment j are respectively.
(3) Intersection control model:
wherein p is lj For the intersection to be phase-coordinated,
for the coordination phase control target, f (t) is the input phase effective green time, y (t) is the non-input phase effective green time, +.>
For the length of the road section->
U is a residual road section space threshold value for judging whether the intersection is subjected to signal optimization or not, if the u is larger than the threshold value, the non-input phase is subjected to control signal optimization, o is the phase difference of the adjacent intersection, L is the road section length, N is the number of vehicles, lambda is the proportional coefficient of the number of vehicles of the road section, A is the road section occupancy threshold value, x is the road section space occupancy, and v is the average speed of the road section;
step three: the method comprises the steps of integrating road traffic signal control, relating to data acquisition, communication transmission, calculation analysis and on-site control, designing a closed loop control structure comprehensively applied to a related traffic subarea hierarchical coordination control technology and an emergency vehicle priority distributed cooperative control method, considering related constraint of green wave bandwidth of social traffic flow of the related subarea, determining an executable space of a priority optimization variable of an emergency vehicle, determining public periods and phase differences of each intersection of the related subareas by a coordination level according to road traffic flow states and timing parameters of the intersections in the closed loop overall control structure, and transmitting the public periods and the phase differences to a control level; in the control stage, on one hand, each intersection performs preliminary green letter comparison timing optimization according to public period, phase difference and road traffic flow state; on the other hand, on the basis of the preliminary timing optimization result, considering the green wave bandwidth constraint condition of the social traffic coordination of the associated subarea, determining the executable space of the emergency vehicle priority control variable of each intersection, then adopting the emergency path traffic coordination control method of priority traffic, determining the signal timing parameters of the priority of the emergency vehicles of each intersection, and feeding back the signal timing parameters to the coordination level;
step four: in the process, the intelligent algorithm is utilized to carry out the operation analysis of model solving, and the signal cooperative control scheme crossing traffic subareas can be obtained through iterative calculation until the result is converged.
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