CN100555356C - The decentralized signal control system - Google Patents
The decentralized signal control system Download PDFInfo
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- CN100555356C CN100555356C CNB038268310A CN03826831A CN100555356C CN 100555356 C CN100555356 C CN 100555356C CN B038268310 A CNB038268310 A CN B038268310A CN 03826831 A CN03826831 A CN 03826831A CN 100555356 C CN100555356 C CN 100555356C
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
- G08G1/082—Controlling the time between beginning of the same phase of a cycle at adjacent intersections
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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Abstract
A kind of scope that needn't determine to have same period in advance is provided, each signal controlling machine cooperate with the signal controlling machine of the crossroad of adjacency on one side, with separately cycle, split, side-play amount become decentralized signal control system that the mode of optimum automatically determine on one side.Scattered control system of the present invention connects each crossroad (1 by communication line
1～1
6) signal controlling machine (2
1～2
6), can carry out message exchange with the signal controlling machine of the crossroad of adjacency.Each signal controlling machine measure to flow into the magnitude of traffic flow that respectively flows into the road of self crossroad, on this basis, calculates cycle, the split of the irreducible minimum limit that self place, crossroad needs.And, by above-mentioned communication line, carry out message exchange, and judge according to predetermined evaluation function and to meet or do not meet the cycle with the crossroad of adjacency.When meeting the cycle, the calculating optimum side-play amount.These cycles, split, side-play amount as desired value, are carried out after the conversion of desired value, and the traffic contrast with present situation changes in the predetermined scope split, side-play amount adjustment.
Description
Technical field
The signal controlling machine that the present invention relates to a kind of each crossroad is cooperated mutually with each signal controlling machine in abutting connection with the crossroad, the cycle (cycle) separately of decision automatically, split (split), the whistle control system of side-play amount (offset).
Background technology
The optimization of traffic signals controlled variable makes road traffic very important aspect unobstructed.Controlled variable has the cycle, split, 3 of side-play amounts.Cycle is the display cycle that signal shows, expression shows the touring time from east-west direction to the signal of North and South direction.The volume of traffic is many, if do not increase the cycle, produces and stops up, and becomes the main cause of traffic congestion.On the contrary, the cycle is excessive, because the dead time band that does not have vehicle to pass through increases, increases time delay again.
Split is the ratio that green time accounts for Cycle Length.If split can not distribute suitable green time to each direction, dead time and time delay just increase.Side-play amount is the deviation that the green light between the crossroad of adjacency is represented the zero hour, do not wait for and useless green time in order not produce at the parting of the ways, consistent with vehicle ', stagger the time, the green time of each crossroad is lit a lamp in order, can access unobstructed traffic effect.The time set of side-play amount and the direction that should get, if do not abide by traffic, not only not by the effect of side-play amount, it is mobile to block the traffic on the contrary, becomes the key element that produces big time delay.These 3 controlled variable of optimization, be the purpose of whistle control system the time delay that makes vehicle more for a short time.
As a whistle control system, there is all sensors to be connected on the central means with the whole signal controlling machines in the control area and the measurement volume of traffic, according to the volume of traffic of measuring, the mode of the controlled variable of each controller of central means decision indication.
In this mode, when the calculation control parameter,,, be divided into small-scale scope with contact as traffic flow at first with the The whole control zone in advance.Divided zone is called as subregion, the identical cycle of utilization in the subregion.Same period is normally obtained according to the of ac of in advance selected important crossroad.Important crossroad is selected and the many crossroads of the hypothesis volume of traffic such as national highway intersects.Split was according to being determined by the traffic census result who manually obtains, in recent years, by volume of traffic measurement result, calculating automatically in the past.Side-play amount is conceived to the main route in the subregion, switches, and uses the some patterns consistent with the volume of traffic.For example, westwards to the many time band of the volume of traffic in, use the pattern of getting side-play amount from the east orientation west, in the many time bands of eastwards the volume of traffic, use the pattern of getting side-play amount from the west eastwards on the contrary.The same with split, carrying out in recent years generating the research of side-play amount pattern automatically according to volume of traffic measurement result.
In subregion, use in the aforesaid way of same period,, use the cycle of trying to achieve in the important crossroad although the crossroad volume of traffic beyond the important crossroad is few.Therefore, useless green time occurs, produce time delay.In addition, much less be conceived to the side-play amount pattern that main route is made, the actual traffic situation must at every moment be abideed by in selected in advance subregion and important crossroad.Be necessary according to building the transition in the shop on the route in or holding modification such as match.
Carry out in the aforesaid way of control in central means, can be according to traffic, selected automatically subregion or important crossroad, automatic calculation control parameter, but it is,, in fact very difficult because the calculating of central means becomes huge and complicated along with the signal controlling machine of control increases.
In addition, as other whistle control systems, considering that each signal controlling machine carries out the whistle control system of the dispersing mode of control respectively., in such dispersing mode, by the control of each signal controlling machine, the The whole control zone is all stablized and best control is difficult to, present situation is not have suitable method to be proposed.Mostly final situation is the main body of control as central means, and the control by the signal controlling machine of each crossroad is carried out is only limited to the controlled variable of adjusting the central means decision according to the traffic of this crossroad.
Summary of the invention
The purpose of this invention is to provide, a kind of do not have a large-scale central means, intercommunicate with each signal controlling machine of adjacency crossroad, variation according to traffic, the signal controlling machine of each crossroad calculates the cycle separately automatically, split, side-play amount, the decentralized signal control system of controlling.
Other purposes of the present invention are to provide, and adapt to the controlled variable that traffic changes by automatic calculating, reduce the operating cost relevant with modification with the calculating of controlled variable and the whistle control system of maintenance cost significantly.
In addition, other purposes of the present invention are to provide, no matter be concentrated or decentralized, can not fall into the extreme value of a plurality of optimum that occur when there is, determines the Optimal Control pattern in existing whistle control system, and can select the control algolithm of real optimum.
By scattered control system of the present invention, to connect each crossroad (1 by communication line
1～1
6) signal controlling machine (2
1～2
6), the mode that can carry out message exchange with the signal controlling machine of the crossroad of adjacency constitutes.
Signal controller (1) can respectively flow into road (3 as the crossroad 2 of controlling object by being arranged at last
1～3
4) on sensor (4
1～4
4), measure each magnitude of traffic flow (q
1～q
4).
Signal controlling machine (1) preferably can form and be divided into, computation period, split, the phase one (5 of the desired value of side-play amount
1), they are adjusted the subordinate phase (5 that changes in the predetermined scope
2) control.
Signal controlling machine (1) is best, according to the magnitude of traffic flow of actual measurement, when calculating self and side-play amount, by communication line, carries out message exchange with the crossroad of adjacency in cycle, can judge that meet the cycle does not still meet according to predetermined evaluation function.
When signal controlling machine (1) is preferably in the cycle that the crossroad with adjacency meets, can calculate the optimized migration amount that become minimum time delay between this crossroad.
Signal controlling machine (1) is in the cycle that reaches calculating, split, before the desired value of side-play amount during, the adjustment that preferably can suppress to be undertaken by subordinate phase changes.
By the present invention, can provide and not have large-scale central means, get in touch with mutually with each signal controlling machine of adjacency crossroad, variation according to traffic, the signal controlling machine of each crossroad calculates the cycle separately automatically, split, side-play amount, the decentralized signal control system of controlling.That is, provide the range of control that is not prior determinant zone etc., use the identical cycle therein, Yi Bian but estimate time delay, Yi Bian, form the whistle control system of range of control automatically according to traffic.And, provide the side-play amount that is not in subregion, to use medelling, but each signal controlling machine generates the whistle control system of side-play amount automatically to volume of traffic direction how.
In addition, provide the present invention, provide by automatic calculating along with the controlled variable that traffic changes, the calculating that can reduce controlled variable significantly with revise the relevant operating cost and the decentralized signal control system of maintenance cost.
In addition, by the present invention, the problem of huge, the complicated system that releasing has based on the whistle control system of the concentrated of central means can be provided simultaneously, and the decentralized whistle control system have be difficult to mate extreme value and the decentralized signal control system that tends to the problem of total optimization.
Description of drawings:
Fig. 1 represents the embodiment by whistle control system of the present invention.
Fig. 2 is near the details drawing the crossroad 1.
Fig. 3 is the platform number curve that adds up at place, a crossroad, is explanation produces time delay by signal controlling figure.
Fig. 4 is the figure of the relation between expression 2 crossroads.
Fig. 5 A, 5B are the figure that adds up platform number curve and time delay between expression 2 crossroads.
Fig. 6 represents the time delay by the deviation generation of side-play amount and volume of traffic due in;
Fig. 7 is the figure of the side-play amount between expression 2 crossroads.
Fig. 8 A, 8B are the time delay that will represent among Fig. 6, respectively the figure that 2 crossroads are represented.
Fig. 9 is with the time delay of Fig. 8 of the figure with a graphical representation.
Figure 10 is the figure that is used to illustrate the crossroad access flow.
Figure 11 is the figure that adds up platform number curve and time delay of 2 different crossroads of expression side-play amount.
Figure 12 is the figure of increase and decrease of time delay of the situation of situation when consistent with the crossroad of adjacency that uses the cycle of crossroad more separately.
Figure 13 is the figure that is used to illustrate upstream crossroad access flow.
Figure 14 is that expression constitutes the figure by the software module of signal controlling machine of the present invention.
Embodiment
Below, with reference to accompanying drawing, the embodiment by decentralized signal control system of the present invention is described.
By whistle control system of the present invention, as shown in Figure 1, in each crossroad 1 as each controlling object
1～1
6, signalization controller 2
1～2
6Sometimes the crossroad 1
1～1
6General name is recited as crossroad 1, and signal controlling machine 2 sometimes
1～2
6General name is recited as signal controlling machine 2.
The signal controlling machine of the crossroad of adjacency interconnects by communication line.That is, signal controlling machine 2
1By communication line respectively with signal controlling machine 2
2～2
5Connect signal controlling machine 2
5With signal controlling machine 2
1, 2
6Connect.Fig. 1 represents 1 pair 1 communication line that connects between each signal controlling machine, but communication mode is not limited to this, also can be to adopt the mode of integrating device or utilize wireless mode.
Before the control mode by whistle control system of the present invention is described, the ultimate principle in this control mode is described.
Fig. 3 represents, A at the parting of the ways, flow into the magnitude of traffic flow that the road flows into from certain, when in the unit interval being fixed value avgM (platform/minute), flow into the red time length redA (second) of road direction according to this, green time length greenA (second), Cycle Length cycle (second), how expression changes by the platform number that adds up of the vehicle of this crossroad A.
The signal of A is shown as the vehicle that red interval stops at the parting of the ways, signal show turn green after, successively by crossroad A, if the vehicle that stops of waiting signal has not had fully, the magnitude of traffic flow of inflow just can be constant passes through crossroad A with saturated traffic flow rate Msat (platform/minute).
As a result of, be the area of per 1 cycle for the oblique line part of Fig. 3 the time delay on this inflow road of A at the parting of the ways:
(1/2)×redA×avgM×cycle。
If represent it the time delay with time per unit, then become
(1/2)×redA×avgM。
In the ultimate principle of the manner,, estimate time delay by signal controlling with the performance of this platform number that adds up.
Time delay when Fig. 3 has illustrated the magnitude of traffic flow that flows into for fixing avgM (platform/minute), but in fact owing to influence, not the flow of fixing in abutting connection with the signal controlling of crossroad.But because the Cycle Length of the magnitude of traffic flow balance of regulation and inflow this crossroad A, split though be to be certain magnitude of traffic flow in the interpretation time mean value, is that sufficient situation is a lot of in the practical application.Reason is that the flow of t is M (t) constantly, for its whole flow in the green time green (second) that distributed for 1 cycle, if saturated traffic flow rate is Msat, then
Relation set up.According to the judgement of carrying out thus,,, can obtain the Cycle Length that needs, split if know average discharge avgM even do not know each instantaneous magnitude of traffic flow M (t).
As shown in Figure 3, be subjected to the influence of the signal controlling of crossroad A, the platform number curve that adds up by herein becomes each cycle and has periodically stepped.As shown in Figure 4, with the crossroad of crossroad A adjacency as B, when the distance between it is L, travel apart from this crossroad A distance L, the platform number curve that adds up that occurs of B at the parting of the ways, as on time shaft only the platform number curve that adds up of mobile L/V occur.Wherein, V is the speed of the vehicle that travels between AB at the parting of the ways.In fact, during the distance L of travelling, because Che Qunyou diffusion,, can not become the platform number curve that adds up, but preserve basic value such as this time average discharge with identical shaped inflow crossroad B such as former state are constant by the platform number curve that adds up of crossroad A.
The platform number curve has the periodicity in each cycle owing to add up, time variation amount 1cycle, and 2cycle, 3cycle ... the platform number curve that adds up of the distance of travelling becomes the shape of identical time.Have because during time variation amount L/V that running time produces, with the remainder of cycle divided by L/V, the platform number curve that adds up of identical time uses the later L/V of L/V mod cycle replacement in the time of can accessing with time variation amount that L/V mod cycle is arranged.
The signal of crossroad A show by red stain green after, during through time of L/Vmod cycle, the signal of crossroad B shows still green by red stain, car group B at the parting of the ways can not be blocked, and can pass through.If the side-play amount of the crossroad B that sees from the crossroad A of this moment with offset (A) expression then becomes offset (A)=L/V mod cycle.That is, if L/V mod cycle-offset (A)=0 gets the best from crossroad A to the time of the side-play amount of crossroad B.
Below, consider that L/Vmod cycle-offset (A)=δ t (A) is not 0 situation.δ t (A) is timing, means from the car group of crossroad A to crossroad B, and the δ t (A) of arrival is before the time, and the signal of crossroad B shows green by red stain.
On the contrary, δ t (A) means that at the δ t (A) that arrives to the car group of crossroad B from crossroad A the signal of crossroad B shows green by red stain after the time when negative.
Fig. 5 A represent about from crossroad A to crossroad B direction, δ t (A) is the platform number curve that adds up of timing, the platform number curve that adds up when Fig. 5 B represents that it is negative in addition.In figure separately, the cartographic represenation of area of oblique line part, optimum value δ t (A) causes because side-play amount departs from, at the parting of the ways the total of B time delay of producing.
If use Fig. 5 A, estimate δ t (A) and be the time delay of timing, during 0＜δ t (A)＜greenB, the unit interval, average delay time delay (δ t (A)) became:
delay(δt(A))＝δt(A)×avgM×redB/greenB。
If greenB＜δ t (A)＜cycle, then delay (δ t (A))=(cycle-δ t (A)) * avgM.
Equally, if estimate δ t (A) when negative by Fig. 5 B, 0＞δ t (A))＞-delay average delay time unit interval (δ t (A)) among the redB,
delay(δt(A))＝-δt(A)×avgM
If-redB＞δ t (A)＞-cycle,
Delay (δ t (A))=(cycle-(δ t (A)) * avgM * redB/greenB then.
Fig. 6 is that transverse axis is got δ t (A), and the longitudinal axis is got average delay time delay of crossroad B place unit interval (δ t (A)) and is expressed as figure.δ t (A) be greenB and-during red B, know and get maximal value time delay
delay(δt(A))max＝cycle×(1-split)×avgM。
Wherein, split is the split of crossroad B.
Foregoing is to describing to the mobile of crossroad B from crossroad A, on the contrary, and for also obtaining the same formula to the mobile stream of crossroad A from crossroad B.If is avg m from crossroad B to the time average flow of crossroad A, δ t (B) is timing, the average time delay of unit interval of 0＜δ t (B)＜greenA,
delay(δt(B))＝δt(B)×avg?m×redA/greenA
If greenA＜δ t (A)＜cycle, then
delay(δt(B))＝(cycle-δt(B))×avg?m。
δ t (B) when negative, 0＞δ t (B)＞-average delay time unit interval among the redA is:
delay(δt(B))＝-δt(B)×avg?m。
If-redA＞δ t (B)＞-cycle, then
delay(δt(B))＝(cycle-δt(B)×avg?m×redA/greenA。
Fig. 7 represents side-play amount offset (A) when crossroad A observes crossroad B and the relation of the side-play amount offset (B) when crossroad B observes crossroad A.Owing to know to have the relation of offset (A)+offset (B)=cycle from this figure, δ t (A), the relation of δ t (B) also by,
δt(A)＝L/V?mod?cycle-offset(A)，
δ t (B)=L/V mod cycle-offset (B) becomes
δt(A)+δt(B)＝2×(L/V?mod?cycle)-cycle。
Know that by this formula δ t (A) and δ t (B) can not independently select optimum value.
Fig. 8 A, 8B are that δ t (B) is expressed as figure with the δ t (A) at delay time delay at crossroad B place (δ t (A)) and crossroad A place.Getting δ t (A) is transverse axis, and getting δ t (B) again is the longitudinal axis, and in Fig. 9, with coordinate (δ t (A), δ t (B)), expression provides two variable functions of delay (δ t (A))+delay (δ t (B)).The value of the coordinate on the figure (δ t (A), δ t (B)), identical with level line, the lineae trapezoidea that this point is surrounded in expression is thick more, gets big more value.The line that dots is represented the restriction condition of δ t (A) and δ t (B), but the codomain that expression can change, the coordinate position of getting minimum value on this line is, delay between the AB of crossroad becomes minimum δ t (A), the combination of δ t (B), can obtain offset (A) thus, the optimum value of offset (B).
Know that by Fig. 9 if δ is t (A), δ t (B) moves on dotted line, have the coordinate of functional value minimalization the situation of several times to occur, in the method for exploring with small amplitude of variation, in fact can not obtain minimum value wherein.Show the simple mathematical programming that is not to use in the past, at first, according to Fig. 9, obtain the scope of minimum value, then carry out the exploration of subtle change amount around it, the exploration in 2 stages is necessary.
Use above ultimate principle, to control mode being described by whistle control system of the present invention.
Among Figure 10, from with the crossroad B of crossroad A adjacency, the average magnitude of traffic flow that E flows into crossroad A is respectively avgMba, avgMea, the vehicle platform that will flow into during 1cycle is counted avgMba * cycle platform and avgMea * cycle platform vehicle, during green time cycle * split (BE), be necessary that A distributes at the parting of the ways.Wherein, split (BE) expression is assigned to crossroad B, A, the split on the E direction.If this necessary condition is expressed as formula, then be,
MAX(avgMba，avgMea)＜split(BE)×MsatBE。
MsatBE is crossroad B, A, the saturated traffic flow rate of E direction.
Equally, crossroad C, A, the necessary condition of D direction is:
MAX(avgMca，avgMda)＜split(CD)×MsatCD。
Split (BE) is for being assigned to crossroad B, A, and the split on the E direction, MsatCD is crossroad C in addition, A, the saturated traffic flow rate of D direction.
Crossroad B, A, the green time of E direction is necessary to guarantee pedestrian's green time length ped_timeBE that pedestrian at this moment can cross, equally for crossroad C, A, the green time of D direction also needs the time of ped_timeCD.Therefore, following relational expression also is a necessary condition.
cycle×split(BE)＞ped_timeBE
cycle×split(CD)＞ped_timeCD
In addition, crossroad B, A, the E direction, perhaps crossroad C, A, any one in the D direction all has λ lost time that is not assigned with, if overcome the above problems, the Cycle Length of crossroad A and the split of this moment are represented by following formula.
split(CD)＞MAX{Max(avgMca，avgMda)/MatCD，ped_timeCD/cycle}
split(BE)＞MAX{Max(avgMba，avgMea)/MsatBE，pee_timeBE/cycle}
cycle＝λ/(1-split(CD)-split(BE))
The cycle that wherein obtains, split (CD), split (BE) from the longitude and latitude of obtaining, is to need minimal value.The value that for example shifts to an earlier date 2 seconds integral multiples during practical application is used the cycle that calculates thus.At this moment, split split (CD), split (BE) still sets up in order to make cycle=λ/(1-split (CD)-split (BE)), can increase according to the initial value pro-rata.Process before this becomes the cycle in the 1st stage, the starting point of split.
Crossroad A in abutting connection with crossroad B, C, D, the signal controlling machine of E too owing to carry out the cycle calculating of split, the signal controlling machine of crossroad A in abutting connection with the cycle of each signal controlling computer of crossroad and the value of split, carries out message exchange through communication line with these.The result of message exchange, if in the crossroad, the crossroad of calculating same period is arranged, crossroad A is with in these crossroads, represents that to the green light in abutting connection with the crossroad of the average discharge maximum of crossroad A be benchmark the zero hour, selects the optimized migration amount of crossroad A.The method of selecting is used the binary delay function of Fig. 9.
For example, crossroad B is the cycle identical with crossroad A, and is maximum from crossroad B to the average discharge of crossroad A.Therefore, suppose A at the parting of the ways, between the B, get side-play amount.Flow with average discharge avgMab to crossroad B from crossroad A, in addition from crossroad B when crossroad A flows with average discharge avgMba, if use preferential side-play amount as the side-play amount between the AB of crossroad, even become the worst time delay red * Min (avgMab, avgMba).Use Fig. 9 to derive in order to draw correct time delay thus.
At the parting of the ways A in abutting connection with the crossroad, even calculate the crossroad of same period, when the average discharge of crossroad A is not maximum, do not get side-play amount.In the time of side-play amount can not being selected between AB at the parting of the ways, become red * (avgMab+avgMba) maximum time delay.
Then, when which of crossroad B～E the cycle that calculating and crossroad A the calculate signal controlling machine of comparing the long cycle be positioned in abutting connection with, crossroad A selects wherein the cycle near self cycle, judge whether with self cycle as the cycle of obtaining, perhaps contrast with cycle near it.
Self and approaching cycle contrast when elongated in cycle, relatively owing to can select side-play amount, wish the part that can be reduced time delay, with by adding long period, crossroad at self produces dead time, increase time delay, and lose before this side-play amount effect by the change cycle, become most gain and loss as a result time delay.According to result relatively, judgement could change the cycle.
To judging that could change the object lesson in cycle describes.In the example of Figure 10, if the crossroad A that is adjoining each other, between the B, flow with average discharge avgMab to crossroad B from crossroad A, flow with average discharge avgMba to crossroad A from crossroad B in addition, asynchronous time delay in cycle between the AB of crossroad, as shown in figure 11, can be by delay=(1/2) * (redA+redB) * (avgMab+avgMba) obtain.
On the other hand, calculate crossroad A in abutting connection with different cycle of crossroad B～E the time, cycle of the crossroad of immediate value is grown and calculated to contrast ratio self cycle to judge crossroad A.When Figure 12 represented that it is B in abutting connection with the crossroad, whether the cycle Ca that is used to judge crossroad A contrasted the example of comparison sheet of the cycle Cb of crossroad B.In this table, and all crossroads of crossroad A adjacency between, relatively cause the gain and loss that postpones by the change cycle.
Above result determines the controlled variable (cycle, split, side-play amount) in the phase one.These parameters are delivered to subordinate phase as desired value.Simultaneously, in the phase one, once more with the adjacency crossroad message exchange cycle, split repeats aforementioned calculation.
In the subordinate phase, when new signal controlling parameter was sent here by the phase one, the executory controlled variable of change gradually was near new desired value.
In case it is after reaching desired value, consistent with the actual traffic situation.With split in the subordinate phase, side-play amount is adjusted in the certain limit.Method of adjustment according to what be familiar with very much, changes controlled variable with positive and negative certain variable quantity, as its result, be made as the benchmark of the measured value that judges whether to reduce time delay.
But, when not reaching desired value,, also to consider to obtain reverse effect if carry out the adjustment of subordinate phase, increase the situation of time delay.Therefore, in this patent, in the process that shifts to desired value, add the function of the adjustment change that suppresses subordinate phase.
The result of the average magnitude of traffic flow that flows in by each crossroad of actual measurement in the decision cycle, in the method for split, may produce control lag.Its result is for the response variation of traffic change.For corresponding therewith, handle linear combination, as average discharge by the magnitude of traffic flow that respectively flows into the road actual measurement of adjacency crossroad.For example, consider following form:
avgM＝＝a1(t，week)×M1(t)+a2(t，week)×M2(t)
+a3(t，week)×M3(t)。
M1 (t), M2 (t), M3 (t) as shown in figure 13, is the measured value that flows into the magnitude of traffic flow of road inflow in abutting connection with crossroad B place of upstream from each.Some inflows crossroad A in these.(t, week), (t, week), (t week) is the coefficient of linear combination to a3 to a2 to a1.Because each is t and week week constantly, also have the crossroad difference, survey the average discharge of each crossroad, the coefficient of study linear combination reduces error therewith.The method of study can be used, ARMA (autoregressive model) for example, neuron, intensified learning etc.
Figure 14 represents to realize whistle control system of the present invention, the formation example of the software module of signal controlling machine 1.
Magnitude of traffic flow measurement module 6
1By the sensor measurement volume of traffic.
Communication module 6
2Be connected with the crossroad of adjacency by communication line, carry out message exchange.
The cycle/split schedule module 6
3, realize the magnitude of traffic flow according to actual measurement, according to above-mentioned explanation, the crossroad of calculating self needs the cycle of minimal length, the function of split.Side-play amount schedule module 6
4,, calculate and in abutting connection with the optimized migration amount between the crossroad according to above-mentioned explanation.With this side-play amount schedule module 6
4With above-mentioned cycle/split schedule module 6
3Lump together, become the phase one 5
1
Control and executive module 6
5It is subordinate phase 5
2, with the desired value contrast of the controlled variable of calculating in the phase one, the in fact part of control signal modulator.As mentioned above, in case after reaching desired value, contrast traffic is at this moment adjusted the change split, side-play amount.
Claims (7)
1, a kind of decentralized signal control system is characterized in that,
In the traffic signals control of a plurality of signal controlling machines of control, each signal controlling machine of each crossroad according to the magnitude of traffic flow of measuring for the signal controlling of carrying out self and and each signal controlling machine of the crossroad that adjoins each other between the message exchange carried out, thereby on the one hand when cooperating with each signal controlling machine of the crossroad of described each crossroad adjacency, on the other hand, described signal controlling machine determines the cycle of self automatically, split, side-play amount
Each signal controlling machine in each crossroad determines the cycle separately, and split during side-play amount, is divided into the phase one and subordinate phase is controlled, wherein:
In the described phase one, described signal controlling machine use in the crossroad of self control each flow into the road the magnitude of traffic flow time average and to the distance of the crossroad of described crossroad adjacency, decision cycle, split, side-play amount;
In described subordinate phase, split, side-play amount adjustment in the cycle that will determine in the described phase one, split, the side-play amount change in the predetermined scope.
2, decentralized signal control system according to claim 1 is characterized in that,
Described decentralized signal control system has following function, promptly, when each signal controlling machine cycle of phase one decision with become when identical in the cycle of phase one decision with the signal controlling machine of the crossroad of the crossroad adjacency of described signal controlling machine, the signal controlling machine of the crossroad of described signal controlling machine and described adjacency was cooperated jointly in the phase one, the function of decision side-play amount.
3, decentralized signal control system according to claim 1 is characterized in that,
Each signal controlling machine has following function, promptly, when each signal controlling machine from cycle of phase one decision and with the signal controlling machine of the crossroad of the crossroad adjacency of described signal controlling machine cycle of phase one decision not simultaneously, described self signal controlling machine and the signal controlling machine of the crossroad of described adjacency cooperate jointly in the phase one, according to predetermined evaluation function, judgement is to be consistent in the cycle or inconsistent function.
4, decentralized signal control system according to claim 1 is characterized in that,
Each signal controlling machine is suitable for the functional value of the actual measurement magnitude of traffic flow of the crossroad of the upstream that is positioned at this inflows road locating in each of the crossroad of self control flows into the time average of the magnitude of traffic flow on road.
5, decentralized signal control system according to claim 4 is characterized in that,
In described functional value, each signal controlling machine has the function with this function parameter of mode correction of the error between the time average of the actual measurement magnitude of traffic flow on each inflow road of the crossroad that reduces self to control.
6, decentralized signal control system according to claim 2 is characterized in that,
When each signal controlling machine cycle of phase one decision with the signal controlling machine of the crossroad of the crossroad adjacency of described signal controlling machine control when the cycle of phase one decision, identical situation was made decision side-play amount, each signal controlling machine obtain with described fixing speed V remove and the crossroad of described adjacency between the amount L/V of time dimension of distance L, obtain the surplus L/V mod C that removes this amount with cycle C again, deduct side-play amount offsetA when the crossroad A of self observes the crossroad B of adjacency and the side-play amount offsetB when the crossroad B of described adjacency sees described self crossroad A respectively, as shown in the formula defining δ tA like that, δ tB
δtA＝(L/V?mod?C)-offsetA
δtB＝(L/V?mod?C)-offsetB，
With δ tA as transverse axis, δ tB is formed coordinate system as the longitudinal axis, according to the time delay of on this coordinate system, representing, the side-play amount that decision is best.
7, decentralized signal control system according to claim 1 is characterized in that,
Each signal controlling machine possesses following function, that is: shift midway in the setting value to the cycle that is determined by the phase one, split, side-play amount, and the split of subordinate phase, the adjustment of side-play amount change function are suppressed.
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| PCT/JP2003/009308 WO2005010846A1 (en) | 2003-07-23 | 2003-07-23 | Distributed signal control system |
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| CN100555356C true CN100555356C (en) | 2009-10-28 |
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| KR101059450B1 (en) | 2009-07-06 | 2011-08-25 | 서울시립대학교 산학협력단 | Traffic Time Control System and Method |
| CN102005124B (en) * | 2010-11-16 | 2012-10-10 | 青岛海信网络科技股份有限公司 | Method and device for controlling traffic signals of intersections |
| KR20140021863A (en) * | 2012-08-13 | 2014-02-21 | 이흥수 | Traffic control surveillance center server and broadcasting signal creating method for traffic signal control and traffic signal controlling method and device |
| CN104064040A (en) * | 2013-03-19 | 2014-09-24 | 厦门市成利吉智能交通科技有限公司 | Traffic signal control machine with synergistic dispersion function |
| CN103177589B (en) * | 2013-04-22 | 2015-07-22 | 福州大学 | Self-adaptive control method for period of traffic signal based on evolutionary game |
| CN103400503A (en) * | 2013-08-26 | 2013-11-20 | 西华大学 | Multiphase traffic signal control machine based on IIC (Intel Integrate Circuit) bus |
| CN106910349B (en) * | 2015-12-23 | 2020-03-20 | 中国移动通信集团公司 | Traffic signal lamp control method and system |
| CN106355878B (en) | 2016-09-26 | 2019-11-08 | 北京东土科技股份有限公司 | Cooperative control method and device based on intelligent transportation cloud control system |
| CN106412049A (en) * | 2016-09-26 | 2017-02-15 | 北京东土科技股份有限公司 | Intelligent traffic cloud control system |
| CN106251620B (en) | 2016-09-26 | 2019-01-25 | 北京东土科技股份有限公司 | Centring system based on intelligent transportation cloud control system |
| CN112289045B (en) * | 2020-10-19 | 2021-12-21 | 智邮开源通信研究院(北京)有限公司 | Traffic signal control method and device, electronic equipment and readable storage medium |
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| US5257194A (en) * | 1991-04-30 | 1993-10-26 | Mitsubishi Corporation | Highway traffic signal local controller |
| JPH0684094A (en) * | 1992-09-04 | 1994-03-25 | Mitsubishi Electric Corp | Signal controller |
| JPH076292A (en) * | 1993-06-17 | 1995-01-10 | Toshiba Corp | Signal equipment control system |
| JP3236432B2 (en) * | 1993-11-30 | 2001-12-10 | 三菱電機株式会社 | Road traffic signal control device |
| JP4860030B2 (en) * | 2000-08-15 | 2012-01-25 | パナソニック株式会社 | Signal control parameter design method and apparatus |
| JP2002245586A (en) * | 2001-02-19 | 2002-08-30 | Mitsubishi Electric Corp | Traffic signal control system |
| JP2003016581A (en) * | 2001-07-02 | 2003-01-17 | Mitsubishi Heavy Ind Ltd | Autonomous distributed signal control system and its extending method |
| JP2003067887A (en) * | 2001-08-28 | 2003-03-07 | Mitsubishi Heavy Ind Ltd | Autonomous distributed signal control system |
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| CN1802677A (en) | 2006-07-12 |
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