CN101826257A - Method for detecting motor way travel condition in real time - Google Patents
Method for detecting motor way travel condition in real time Download PDFInfo
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Abstract
The invention discloses a method for detecting the motor way travel condition in real time, which comprises the steps of: arranging a vehicle detector in a road section in a traffic flow direction; determining a detection time slot T and detection time units t, wherein t is equal to T/m, and m is the number of segments of the detection time slot T; detecting vehicle passing time t' of each detection time unit t and calculating the unit occupation ratio t'/T of each time unit; sequentially calculating the road occupation ratio OT(t) in the time unit slot T before the corresponding time node by taking the time unit duration as the interval according to the unit occupation ratio of m continuous time units before the detected time node; and judging the road condition of the motor way taking the time unit duration as the interval according to the obtained road occupation ratio OT(t) of the time node. The method can be used for accurately and quickly judging road conditions in real time and carrying out real-time control on a traffic indicator light according to the result, thereby realizing the real-time command and control on traffic.
Description
Technical field
The present invention relates to a kind of road traffic and detect and control method, be specifically related to the real-time detection method of a kind of car lane situation, and, mainly be to be applied in the control of gateway, through street according to testing result control stop-light and then commander's road traffic.
Background technology
The through street network is that traffic trip is provided convenience with other road conditions of " quasi high-speed highway " level by quick relatively and jumbo mode.Beijing's through street network length overall reaches more than 300 kilometer as comprising Beijing two, three, Fourth Ring etc. at present, is bearing traffic trips a large amount of in the city, and the gateway of through street makes it to become the traffic bottlenecks of through street because the speed of a motor vehicle causes blocking slowly.
Judge a travel speed that important parameters is a vehicle of traffic, CN1417756A discloses a kind of road traffic condition detection method, described method by the distance between the monitoring point of regulating one group of detecting sensor to appropriate length, utilize one of them detecting sensor record headstock to arrive the moment of its monitoring point again, another detecting sensor writes down the moment that same headstock arrives its monitoring point and writes down this car by the used mistiming of distance between monitoring point of this group detecting sensor, calculate the speed of a motor vehicle than disposal system and give its corresponding number by the two-way time ratio, utilize existing mobile communication network that this number is transferred to traffic inspection center then.This mode is by the time of passing through of detecting vehicle between two points and utilizes the test point of difference position, calculate the speed of car, utilize speed class to infer the jam situation of traffic, this speed of a motor vehicle that only relies on infers that traffic is very inaccurate, when no vehicle passes through,, show that the speed of a motor vehicle is 0 as night, it is unimpeded to travel, and blocks up but be shown as.
Another important parameters of judging traffic is the magnitude of traffic flow, and the actual throughput that is construed as road section of the magnitude of traffic flow is not considered Vehicle Speed.The magnitude of traffic flow will be used with road passage capability or saturation volume in application usually, and the traffic capacity is a theoretical scope, can be variant in the application process.The magnitude of traffic flow increases with the increase of the demand of traffic trip, and excessive trip requirements can cause the road network generation of blocking up, and observes end face car number (magnitude of traffic flow) can reduce on the contrary this moment even is zero, and be shown as unimpeded this moment, but actual conditions are congestion in road.Therefore only adopt the speed of a motor vehicle or the magnitude of traffic flow all can not reflect the actual traffic situation of road.
The control mode that adopts mainly is fixedly timing and Scheme Choice at present.Fixedly timing: according to main road fluctuations in discharge situation, formulate a whole day timetable, the different different schemes, this method of constantly adopting belong to tendency control, do not have real-time.And Scheme Choice: adopt 3 or 5 minutes flows and occupation rate, be the V+0 mode, occupation rate 0=t/T, t are the summation of the time of the vehicle passing detection device by detecting device in the T period, adopt the method for V+0 to work out a series of threshold values, according to detecting data call respective fixation scheme.This method essence is the occupation rate that detects in the set time, if adopt three minutes flows and occupation rate, detection time, section was 1-3 minute for the first time, and testing result is the testing result of ending place in the 3rd minute; Detection time, section was 4-6 minute for the second time, and testing result is the testing result of ending place in the 6th minute.By that analogy.The time period that this method adopts is end to end mode, each occupation rate that detects differed 3 minutes, and is for the intensive zone of the volume of traffic, relevant with peripheral path as the setting of the gateway of through street, the main road traveling state of vehicle is with all round the crossing is relevant, and the work period is by second calculating.In such cases, adopt 3 or 5 minutes at interval excessive, main road is stagnated and is unobstructedly filtered out fully, so it is not strong to detect the data-guiding that obtains by this mode, and certain hysteresis quality is arranged, real-time is poor.If aforesaid way shortens to a second level, the detection time of each detection data is too short, and the chance that detects data is too big, and testing result is inaccurate.
Summary of the invention
Technical matters to be solved of the present invention is the problem that real-time is poor, detected value reflection road conditions lag behind that existing car lane condition detection method exists, and the invention provides the real-time detection method of a kind of car lane situation for this reason.Described method is by judging next traffic conditions constantly to the check and analysis of current traffic conditions, can judge the road surface situation in real time, accurately, fast and stop-light is controlled in real time according to testing result, thereby realize real-time commander and control traffic according to the result.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of car lane condition detection method comprises:
A. on the traffic direction highway section, wagon detector is set;
B. determine section T detection time, determine unit t detection time, t=T/m wherein, m are the isodisperse to described detection time of section T;
C. the vehicle that detects among each time quantum t passes through time t ', calculates the occupation rate t/T of unit in each time quantum;
D. according to the described unit occupation rate of m continuous before the survey timing node described time quantum, be the interval with described time quantum duration, the roadway occupancy OT (t) before the corresponding timing node of order computation in the described time period T:
E. according to the roadway occupancy OT (t) of resulting described timing node, judge with described time quantum duration to be the condition of road surface of the car lane of being surveyed at interval.
Described detection time, unit t was 0.1-5 second, was preferably 0.5-3 second, most preferably was 1 second.
Described detection time, the isodisperse m of section T was the integer of 5-20, was preferably the integer of 10-15.
A kind of car lane situation is controlled method in real time, comprising:
In traffic signal control system, set judgment threshold according to roadway occupancy OT (t);
To adopt the real-time detection method of above-mentioned described car lane situation to obtain roadway occupancy OT (t) value compares with described judgment threshold one by one;
When described roadway occupancy OT (t) is worth greater than described judgment threshold, be the congestion in road state, described traffic signal control system is controlled the flow that corresponding traffic signals facility limits corresponding road; When described roadway occupancy OT (t) value during less than described judgment threshold, be the The coast is clear state, described traffic signal control system is controlled the let pass flow of corresponding road of corresponding traffic signals facility.
Described judgment threshold comprises forbidden measure threshold values Qh and current measure threshold values Q1; Wherein said forbidden measure threshold values Qh is greater than described current measure threshold values Q1; When described roadway occupancy OT (t) value during greater than described forbidden measure threshold values Qh, illustrate that road is a congestion status, described traffic signals facility starts forbidden measure; As described roadway occupancy OT (t) during less than described current measure threshold values Q1, illustrate that road is unimpeded state, described traffic signals facility starts current measure; When described roadway occupancy OT (t) value less than described forbidden measure threshold values Qh, and during greater than described current measure threshold values Q1, described traffic signals facility keeps previous state.
Described traffic signals facility is a signal light path.
The application's innovation and creation compared with prior art have good effect:
At first, owing to adopt fixing section T detection time, be spaced apart unit t detection time of five equilibrium among the section T detection time detection time, so both guaranteed to have enough detection times among the section T, guaranteed that again assay intervals can lack as much as possible in determined detection time.Improve the real-time that detects thus, guaranteed the accuracy that detects again.
Secondly, adopt this detection mode,, therefore can satisfy the needs of the real-time of different detections because detecting unit time t and isodisperse m at interval can adjust according to the needs that detect.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is further described:
The graph of a relation of Fig. 1 traffic conditions and occupation rate;
Fig. 2 is an example control principle synoptic diagram of the present invention.
Embodiment
Shown in Fig. 1-2, an embodiment of the invention detect for the vehicle in highway section, gateway, through street carries out wagon flow, and testing result is fed back to gateway, through street traffic lights, so that traffic access point is effectively controlled.It comprises the method that road detects control in real time: on the traffic direction highway section wagon detector is set; Determine section T=10 second detection time, with described detection time section be divided into 10 five equilibriums, i.e. m=10; Unit t=1 second detection time of determining by t=T/m like this; Detect the time t ' that has vehicle to pass through among each time quantum t by set described wagon detector, calculate the occupation rate t ' of the unit/T in each time quantum thus; According to the described unit occupation rate of m continuous before the survey timing node described time quantum, be the interval with described time quantum duration, the roadway occupancy OT (t) before the corresponding timing node of order computation in the described time period T:
That is: be node detection time with the 10th second, calculating formula is as follows
Wherein:
T '
1It is the time of interior all the vehicle passing detection devices of first unit t detection time;
T '
2It is the time of interior all the vehicle passing detection devices of second unit t detection time;
……
T '
9It is the time of interior all the vehicle passing detection devices of the 9th unit t detection time;
T '
10It is the time of interior all the vehicle passing detection devices of the tenth unit t detection time;
Roadway occupancy OT (t) when drawing the 10th second thus.
Then, with the 11st second be node detection time, calculating formula is as follows
Wherein:
T '
2It is the time of interior all the vehicle passing detection devices of first unit t detection time;
T '
3It is the time of interior all the vehicle passing detection devices of second unit t detection time;
……
T '
10It is the time of interior all the vehicle passing detection devices of the 9th unit t detection time;
T '
11It is the time of interior all the vehicle passing detection devices of the 10th unit t detection time;
Roadway occupancy OT (t) when drawing the 11st second thus.
Afterwards, continuation was node detection time with the 12nd second, the roadway occupancy OT (t) when drawing the 12nd second.By that analogy, draw roadway occupancy OT (t) value of the 1 second described time quantum duration in every interval.
Roadway occupancy OT (t) according to each timing node compares it one by one with the judgment threshold that sets, judge with described time quantum duration to be the continuous situation of change of condition of road surface of the car lane of being surveyed at interval.
Fig. 1 has shown according to roadway occupancy OT (t) value of the method for above-mentioned embodiment record, 1 second the interval duration recording curve figure.Wherein roadway occupancy OT (t) value is 1 o'clock, and the expression road blocks, and vehicle can not be walked.Roadway occupancy OT (t) value is 0 o'clock, does not have vehicle to pass through on the expression road.Numeric representation from 0 to 1 from unimpeded to the state that blocks up.Near 0.8, wagon flow is more on this moment car lane, also can confirm from the picture situation as roadway occupancy OT (t) the 30th second the time; Roadway occupancy OT (t) about 0.2 in the time of the 91st second, wagon flow is less on the car lane at this moment; Roadway occupancy OT (t) is 1 in the time of the 161st second, and this moment, vehicle stopped.Because the assay intervals duration of present embodiment is 1 second, for the passage rate and the cycle command of urban road, detected roadway occupancy OT (t) curve can react real-time traffic basically preferably.
In the above-described embodiments, do not provide concrete compare threshold, this is because the setting of compare threshold is to carry out corresponding setting according to different road traffic states.At the bigger crossing of priority difference, such as gateway in the through street, the compare threshold corresponding with the detected value of wagon detector on the runway adjacent with the gateway that is arranged on the through street should be provided with lowlyer, and the compare threshold corresponding with the detected value of wagon detector on being arranged on bypass should be provided with higherly.Can just send the instruction that stops the bypass vehicle to enter the through street so that when reaching lower congestion status on the through street like this; And bypass just sends the instruction that allows the bypass vehicle to enter the through street when only reaching higher congestion status.Can guarantee the current requirement of through street like this.And it is little for priority difference, the crossing that all directions traffic volume is suitable, then be arranged on each road on the corresponding compare threshold of the detected value of wagon detector should be provided with quite or equate, as all being set to 0.5, can guarantee the equilibrium of the vehicle pass-through of all directions like this.
The crossing little in priority difference, that all directions traffic volume is suitable, the compare threshold corresponding with the detected value of wagon detector on being arranged on each road can comprise forbidden measure threshold values Qh and current measure threshold values Q1; Wherein said forbidden measure threshold values Qh is greater than described current measure threshold values Q1; When described roadway occupancy OT (t) value during greater than described forbidden measure threshold values Qh, illustrate that road is a congestion status, described traffic signals facility starts forbidden measure; As described roadway occupancy OT (t) during less than described current measure threshold values Q 1, illustrate that road is unimpeded state, described traffic signals facility starts current measure; When described roadway occupancy OT (t) value less than described forbidden measure threshold values Qh, and during greater than described current measure threshold values Q1, described traffic signals facility keeps previous state.Avoid frequently changing command signal like this,, in the equilibrium of the vehicle pass-through that guarantees all directions, improve the efficient of vehicle pass-through such as the traffic lights frequent changes.
In the invention, the selection of unit t duration was depended on requirement to real-time property, was subjected to the restriction of wagon detector accuracy of detection and the restriction of the road speed of surveying described detection time.Usually owing to be subjected to the restriction of wagon detector accuracy of detection and the restriction of the road speed of surveying, when described detection time, unit t was lower than 0.1 second, detect the resulting occupation rate t ' of unit/T and significantly distortion will occur, can not draw the numerical value of the objective state of reflection; And when described detection time, unit t was greater than 5 seconds, the result of detection will obviously lag behind, and real-time reduces.Described detection time, unit t was chosen as 0.5 second or more stable greater than the objective state of the numerical value that drew in 0.5 second, the characteristics of real-time that are equal to or less than 3 seconds numerical value are then more obvious, for the present wagon detector accuracy of detection and the road speed state of surveying, described detection time, unit t was chosen as the numerical value that can draw the objective state of reflection in 1 second better, again can be in the real-time that guarantees to detect numerical value the best.
The selection of isodisperse m for described detection time of section T.When described isodisperse m is during less than 5 integer, mean that then detecting unit time t is excessive, cause adopting the real-time of the detected road condition value in method side of the present invention to reduce; Perhaps detection time, section T was too short, and the chance that causes detecting data is too big, and testing result is inaccurate.When if isodisperse m selects greater than 20 integer, then can make again described detecting unit time t too the snapshot of oneself ring the objectivity and the accuracy of testing result, perhaps make described detection time section T oversize, data processing amount is too big, influences data processing efficiency.Take all factors into consideration and the result who gropes of experimental phase, the integer that described isodisperse m is preferably 10-15 is the most rational.
Above the selection principle of the various parameters in the method for the application's innovation and creation and the selected parameter trend that influences to testing result is illustrated, the those skilled in the art is under the enlightenment of above-mentioned explanation, just can select suitable parameter value to implement the method for the invention in conjunction with the relevant knowledge that it had and the actual state of road.
Instantiation below in conjunction with Fig. 1 is described in detail.
With reference to Fig. 1, the bottom of Fig. 1 is the graph of a relation of detection time and occupation rate, top is corresponding wagon flow picture, the track inlet wire the most inboard at the left lateral direction detects, in the most inboard track of left lateral direction wagon detector is set, setting unit t detection time is 1 second, continuous detecting unit 10 detection times totally 10 seconds, Qh=0.6, Q1=0.35
Testing result:
The holding time t ' of the 1st second internal detector
1It is 0.5 second;
The holding time t ' of the 2nd second internal detector
2It is 1 second;
The holding time t ' of the 3rd second internal detector
3It is 0 second;
The holding time t ' of the 4th second internal detector
4It is 0.5 second;
The holding time t ' of the 5th second internal detector
5It is 0.5 second;
The holding time t ' of the 6th second internal detector
6It is 0.5 second;
The holding time t ' of the 7th second internal detector
7It is 0 second;
The holding time t ' of the 8th second internal detector
8It is 0.5 second;
The holding time t ' of the 9th second internal detector
9It is 0.5 second;
The holding time t ' of the 10th second internal detector
10It is 0 second;
The roadway occupancy OT (10) of described timing node then
OT (t) illustrates that less than Qh road is unimpeded state, and this moment, corresponding picture showed that traffic is good;
Continue to detect, if the roadway occupancy OT (29)=0.75 of the described timing node in the 29th second, then OT (0.75) illustrates that greater than Qh road is a congestion status, and this moment, corresponding picture showed that vehicle flowrate is big;
…
The roadway occupancy OT (161)=1 of the described timing node in the 161st second
OT (t) illustrates that greater than Qh road is a congestion status, and vehicle is stop motion, and this moment, corresponding picture showed that vehicle stays cool.
The roadway occupancy OT (180)=0.3 of the described timing node in the 180th second
OT (t) illustrates that less than Q1 road recovers unimpeded, and this moment, corresponding picture showed that traffic is good.
The roadway occupancy OT (221)=0.25 of the described timing node in the 212nd second
OT (221) illustrates that less than Qh road is unimpeded, and vehicle ' is normal, and this moment, corresponding picture showed that traffic is good.
Obviously, above-mentioned embodiment only is for example clearly is described, and is not the qualification to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give exhaustive to all embodiments.And conspicuous variation of being extended out thus or change still are among the protection domain of the invention.
Claims (9)
1. car lane condition detection method is characterized in that:
A. on the traffic direction highway section, wagon detector is set;
B. determine section T detection time, determine unit t detection time, t=T/m wherein, m are the isodisperse to described detection time of section T;
C. the vehicle that detects among each time quantum t passes through time t ', calculates the occupation rate t ' of the unit/T in each time quantum;
D. according to the described unit occupation rate of m continuous before the survey timing node described time quantum, be the interval with described time quantum duration, the roadway occupancy OT (t) before the corresponding timing node of order computation in the described time period T:
E. according to the roadway occupancy OT (t) of resulting described timing node, judge with described time quantum duration to be the condition of road surface of the car lane of being surveyed at interval.
2. the real-time detection method of car lane situation according to claim 1 is characterized in that described detection time, unit t was 0.1-5 second.
3. the real-time detection method of car lane situation according to claim 2 is characterized in that described detection time, unit t was 0.5-3 second.
4. the real-time detection method of car lane situation according to claim 3 is characterized in that described detection time, unit t was 1 second.
5. according to the real-time detection method of the arbitrary described car lane situation of claim 1-4, it is characterized in that the isodisperse m of described detection time of section T is the integer of 5-20.
6. the real-time detection method of car lane situation according to claim 5 is characterized in that the isodisperse m of described detection time of section T is the integer of 10-15.
7. a car lane situation is controlled method, it is characterized in that:
In traffic signal control system, set judgment threshold according to roadway occupancy OT (t);
To adopt the real-time detection method of any described car lane situation of claim 1-6 to obtain roadway occupancy OT (t) value compares with described judgment threshold one by one;
When described roadway occupancy OT (t) is worth greater than described judgment threshold, be the congestion in road state, described traffic signal control system is controlled the flow that corresponding traffic signals facility limits corresponding road; When described roadway occupancy OT (t) value during less than described judgment threshold, be the The coast is clear state, described traffic signal control system is controlled the let pass flow of corresponding road of corresponding traffic signals facility.
8. car lane situation according to claim 7 is controlled method in real time, it is characterized in that: described judgment threshold comprises forbidden measure threshold values Qh and current measure threshold values Q1; Wherein said forbidden measure threshold values Qh is greater than described current measure threshold values Q1; When described roadway occupancy OT (t) value during greater than described forbidden measure threshold values Qh, illustrate that road is a congestion status, described traffic signals facility starts forbidden measure; As described roadway occupancy OT (t) during less than described current measure threshold values Q1, illustrate that road is unimpeded state, described traffic signals facility starts current measure; When described roadway occupancy OT (t) value less than described forbidden measure threshold values Qh, and during greater than described current measure threshold values Q1, described traffic signals facility keeps previous state.
9. control method in real time according to claim 7 or 8 described car lane situations, it is characterized in that: described traffic signals facility is a signal light path.
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| CN106415676A (en) * | 2014-01-31 | 2017-02-15 | 丰田自动车株式会社 | Traffic-light cycle length estimation device |
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