CN101923783B - Four-way ring intersection traffic response control method - Google Patents

Four-way ring intersection traffic response control method Download PDF

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CN101923783B
CN101923783B CN 201010266784 CN201010266784A CN101923783B CN 101923783 B CN101923783 B CN 101923783B CN 201010266784 CN201010266784 CN 201010266784 CN 201010266784 A CN201010266784 A CN 201010266784A CN 101923783 B CN101923783 B CN 101923783B
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phase place
phase
rule
time
circuit
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CN101923783A (en
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徐洪峰
孙冰融
耿现彩
陈力威
雷向阳
卢丹
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Dalian University of Technology
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Dalian University of Technology
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Abstract

The invention discloses a four-way ring intersection traffic response control method and belongs to the technical field of intelligent traffic control. The method is characterized by introducing conceptions of front left turn and rear left turn so as to obtain nine basic principles of phase display sequences; establishing a technical architecture suitable for a flexible phase structure; arranging an inlet requirement detector, a ring road queuing detector and a ring road outlet detector; acquiring head time interval and occupied time by adopting an independent detection mode of lanes; and defining ten key traffic events and three types of logic rules which comprises a phase switching rule, a deadlock management rule and a green time adjusting rule, wherein the phase switching rule is used for managing the duration of the phase switching process and determining whether to cut off red time of the next green phase; the deadlock management rule is used for judging a ring road deadlock state and managing a ring road unlocking process; and the green time adjusting rule is used for determining whether to cut off the green time of an inlet phase. The four-way ring intersection traffic response control method can timely adjust passing time resource supply according to short-time continuous change of motor vehicle traffic demand.

Description

Four-way ring intersection traffic response control method
Technical field
The invention belongs to intelligent transportation control technology field, relate to a kind of four-way ring intersection traffic response control method, " parking of left-hand rotation secondary " control model is adopted in this type of traffic circle.
Background technology
" parking of left-hand rotation secondary " control model of four tunnel traffic circles has following technical characterictic: the passage space aspect, the special-purpose entrance driveway of left-hand rotation motor vehicle is set, regard the entrance driveway stop line as first stop line, the upstream position that enters to encircle the motor vehicle interwoven region in circuit one side arranges the second stop line, after most of left-hand rotation motor vehicle enters circuit by the first stop line, need to enter queueing condition behind the second circuit stop line in the counterclockwise direction, after again obtaining right-of-way, can pass through the second stop line; The transit time aspect, be installed into stomatodeum signal lamp and circuit signal lamp, entrance driveway left-hand rotation Vehicle Phase, entrance driveway craspedodrome Vehicle Phase and circuit phase place are set, segregate into the traffic conflict of motor vehicle in ring motor vehicle and the ring from the time, this to the green time of the entrance driveway craspedodrome Vehicle Phase of subtend " with open, with disconnected ", compare with entrance driveway craspedodrome Vehicle Phase, the green time of the left-hand rotation Vehicle Phase of same import can " open " or " early disconnected " late.
The term that the traffic circle signal control method relates to mainly comprises following 6 kinds:
1. the traffic conflict district refers to the enclosed region that the two-way extension of stop line of each entrance driveway of crossing forms afterwards.
2. phase place is identical with the meaning of signal lamp group, all refers to have all the time the logical combination of the signal lamp that identical light color shows.
3. the signal light color of Vehicle Phase and DISPLAY ORDER thereof adopt " green light → amber light → red light → green light ", and the signal light color of pedestrian phases and DISPLAY ORDER thereof adopt " green light → red light → green light ".
4. in two phase places that green light refers to conflict each other interval time, the green light finish time of current green light phase place and the green light of next green light phase place open the time interval in the bright moment.
5. Circulating Lane Capacity refers to that certain goes out to encircle in the motor vehicle interwoven region, to going out to encircle under the prerequisite of vehicle pass-through without remarkable retardation the maximum queuing vehicle number that can hold behind the circuit stop line.
6. circuit " deadlock " state show as the traffic circle all enter ring and go out to encircle in the motor vehicle interwoven region, enter ring and go out to encircle vehicle owing to being subject to that stopping all of vehicle can't normally pass in and out circuit in the circuit.
At present, the Preset Time control method is generally adopted in four tunnel signal controlling traffic circles, usually divide some control times according to each importer to the historical data of automobile traffic demand, take Circulating Lane Capacity as constraint, adopting the asymmetric method is entrance driveway Vehicle Phase and circuit phase assignments green time, in a certain control time, the green light displaying time of each phase place remains unchanged.Yet these class methods can't be adjusted the transit time resource provision automatically according to changing continuously in short-term of automobile traffic demand, and the automobile traffic demand peak period, in the situation that unmanned for intervening, circuit very likely is absorbed in deadlock state.In case circuit is absorbed in deadlock state, the local traffic on the node is blocked up to road intersection upstream rapid diffusion, develops into gradually comprehensive traffic congestion in whole zone.
Summary of the invention
The invention provides a kind of four-way ring intersection traffic response control method.The method is towards four tunnel traffic circles of adopting " parking of left-hand rotation secondary " control model.The symbolic interpretation that relates in the technical scheme of the present invention sees the following form 1: symbolic interpretation.
K entrance driveway phase identification, K ∈ K1, K2 ..., K8
K ' entrance driveway craspedodrome phase identification, K '=K2, K4, K6, or K8
K " entrance driveway left turn phase sign, K "=K1, K3, K5, or K7
R circuit phase identification, R ∈ R1, R2, R3, R4
F pedestrian phases sign, F ∈ F1, F2, F3, F4
Z, Z ' phase identification, Z ∈ K, R, F; Z ' ∈ K, R, F; Z ≠ Z '
DBG (K ', K ") phase place K " the rearmounted time, i.e. the phase place K of phase place K ' and same import " green light open the bright mistiming, second
DEG (K ', R) poor DEG of the green light concluding time of phase place K and its phase place R that counterclockwise is close to (K ', R), DEG (K ', R)＞0
Gmax KThe maximum green time of phase place K, second
Gmin KThe minimum green time of phase place K, second
Gmin K, SPhase place K guarantees the minimum green time of traffic safety, second
Gmin K, PPhase place K guarantees that pedestrains safety crosses the minimum green time in street, second
Gmin K, QSPhase place K guarantees the minimum green time that some queuings vehicle dissipates, second
G ZThe current green light displaying time of phase place K, second
G ReRThe residue green light displaying time of phase place R, second
H No.The time headway of detecting device no., second
The green light interval time of intg (Z, Z ') phase place Z to Z ', second
O No.The holding time of detecting device no., second
S ZUpper green light finish time of phase place Z is to the time interval of current time, second
T Z-Z 'The Phase-switching process duration of phase place Z to Z ', second
T ' HThe time headway threshold value, second
T OThe holding time threshold value, second
t FThe green light displaying time of phase place F, second
Tmin FThe minimum green light displaying time of phase place F, second
The maximum release of Umax service time, second
The current release of u service time, second
B EndKBoolean quantity, B EndK=1: the green time that allows to cut off phase place K
B IendKBoolean quantity, B IendK=1: the green time that cuts off immediately phase place K
B LockBoolean quantity, B Lock=1: circuit closes on deadlock state
B UnlockBoolean quantity, B Unlock=1: circuit Dead lock state
B GapKBoolean quantity, B GapK=1: the time headway priority of the entrance driveway demand detecting device of phase place K or while are greater than a certain threshold value
X K "Boolean quantity, X K "=1: phase place K " attribute is preposition left-hand rotation
Technical scheme of the present invention can be narrated from phase structure design and 2 aspects of control method design.
One, phase structure design
(1) traffic conflict point distributes
There is a large amount of traffic conflict points in the traffic conflict district of four tunnel no signals control traffic circle, and they are distributed in into ring motor vehicle interwoven region, go out to encircle the inside of motor vehicle interwoven region and crossing, shown in Fig. 1-a.
Under " parking of left-hand rotation secondary " control model, introducing along with circuit signal lamp and walker signal lamp, the traffic main body that enters to encircle in motor vehicle interwoven region and the crossing must be current according to the signal light color, and the traffic main body that goes out to encircle in the motor vehicle interwoven region is still current according to priority rule.Therefore, the traffic conflict point of signal controlling traffic circle can be divided into signal controlling effect conflict point and priority rule effect conflict point, shown in Fig. 1-b.Calculate green light during interval time, only need attention signal control action conflict point.
(2) phase place setting
For typical four way traffic response control traffic circle, set up the phase structure with 8 entrance driveway Vehicle Phases, 4 circuit phase places and 4 pedestrian phases.Except the right-hand rotation motor vehicle, per share traffic flow all independently is controlled by a dedicated phase, and as shown in Figure 2, wherein, unidirectional solid arrow represents the entrance driveway phase place, and unidirectional dotted arrow represents the circuit phase place, and two-way dotted arrow represents pedestrian phases.
(3) phase combination scheme
The phase combination scheme has reflected a kind of stable transit time resource provision state in order to the syntagmatic of the phase place (or claiming concurrent phase place) of describing a series of permission synchronization gain right-of-ways.Typical four way traffic response control traffic circle may produce 9 kinds of phase combination schemes, and they are:
Scheme 1: consisted of by phase place K1, K2, K5, K6, R1, R3, F1 and F3;
Scheme 2: consisted of by phase place K2, K6, R1, R3, F1 and F3;
Scheme 3: consisted of by phase place K2, K5, K6, R1, R3, F1 and F3;
Scheme 4: consisted of by phase place K1, K2, K6, R1, R3, F1 and F3;
Scheme 5: consisted of by phase place K3, K4, K7, K8, R2, R4, F2 and F4;
Scheme 6: consisted of by phase place K4, K8, R2, R4, F2 and F4;
Scheme 7: consisted of by phase place K4, K7, K8, R2, R4, F2 and F4;
Scheme 8: consisted of by phase place K3, K4, K8, R2, R4, F2 and F4;
Scheme 9: consisted of by phase place R1, R2, R3 and R4.
Scheme 1～8 is called conventional phase combination scheme, and scheme 9 is called encircles clearly the phase combination scheme.The entrance driveway craspedodrome phase place that pedestrian phases is followed its clockwise direction next-door neighbour obtains right-of-way.Be subjected to the restriction of Circulating Lane Capacity, may there be larger difference in the transit time resource provision of the left-hand rotation of same import and craspedodrome phase place, therefore, will 6 kinds of phase combination schemes that do not comprise or only comprise an entrance driveway left turn phase occur.When circuit closes on " deadlock " state, will enable " encircling clearly the phase combination scheme ".
(4) phase place DISPLAY ORDER
The Phase-switching process refers to that right-of-way is alternated to the transient process of next green light phase place by current green light phase place.The green light of next green light phase place opens the green light that the bright moment equals current green light phase place and adds relevant green light interval time the finish time.The phase place DISPLAY ORDER is in order to describe the change relation between the out of phase assembled scheme.Cover in the phase place DISPLAY ORDER of a signal period, should guarantee that each phase place obtains right-of-way at least one time.
The issuable phase place DISPLAY ORDER in typical four way traffic response control traffic circle, as shown in Figure 4.Define a kind of attribute for the entrance driveway left turn phase, i.e. preposition left-hand rotation and rearmounted left-hand rotation.The craspedodrome phase-locking of preposition left turn phase and same import obtains right-of-way, and the craspedodrome phase place that rearmounted left turn phase obviously lags behind same import obtains right-of-way.The green light concluding time of the attribute of entrance driveway left turn phase and the left-hand rotation of same import and craspedodrome phase place, the poor phase place DISPLAY ORDER that occurs for reality had material impact.
The general rule that the primitive rule of phase place DISPLAY ORDER is implicit in the phase place DISPLAY ORDER that may occur in order to describe, alternate about right-of-way.9 primitive rules of above-mentioned phase place DISPLAY ORDER are:
1. can independently prolong or cut off this to the green time of the entrance driveway left turn phase of subtend;
2. must prolong simultaneously this to the green time of the entrance driveway craspedodrome phase place of subtend;
When 3. carrying out the right-of-way change between North and South direction and the east-west direction, the green time that must cut off simultaneously the current green light phase place of entrance driveway;
If 4. cut off the green time of entrance driveway craspedodrome phase place, its next-door neighbour's circuit phase place will become next green light phase place;
5. green time that can the independent trip pedestrian phases;
6. the circuit phase place should lag behind its clockwise direction next-door neighbour's entrance driveway craspedodrome phase place cut-out green time;
If 7. cut off the green time of circuit phase place, its next-door neighbour's entrance driveway phase place and will become next green light phase place with pedestrian phases that this circuit phase place is conflicted each other;
8. after confirming that circuit closes on deadlock state, when carrying out the right-of-way change between North and South direction that and if only and if the east-west direction, allow to enable and encircle clearly the phase combination scheme;
9. after circuit closes on deadlock state and removes, should give the phase place that North and South direction or east-west direction at first obtain right-of-way with right-of-way according to conventional phase place DISPLAY ORDER.
Two, control method design
The basic thought of four-way ring intersection traffic response control method may be summarized to be: the current changes in demand of traffic main body and the constraint condition of transit time resource provision are described to some crucial traffic events, by crucial traffic events being converted into the logic rules that a series of orders carry out and being dissolved among the whole control flow, can carry out continuous logic judgement according to signal running status and real-time detector data, and then directly determine prolongation or the green time that cuts off current green light phase place.
The Technical Architecture of four-way ring intersection traffic response control method, as shown in Figure 5.The method comprises 3 logic of class rule, i.e. Phase-switching rule, deadlock rule and green time regulation rule.Each phase place all has its special-purpose control module.The minimum green time computing method of entrance driveway phase place and pedestrian phases green light displaying time computing method are embedded among the control module of entrance driveway phase place and pedestrian phases as 2 submodules independently.Requirement is laid the Data mining device in the appropriate location of entrance driveway stop line and circuit stop line upstream, adopts track independent detection mode (being the detecting unit that every group of toroidal feeder line independently accesses detecting device) Real-time Collection time headway and holding time data.The unit interval Δ t that signal controlling machine is carried out this kind control method is 1 second.
The parameter that needs to carry out assignment in initialization module comprises:
1. the attribute of entrance driveway left turn phase;
2. the maximum green time of entrance driveway phase place;
3. the entrance driveway phase place guarantees the minimum green time of traffic safety;
4. the entrance driveway phase place guarantees the minimum green time that some queuings vehicle dissipates;
5. the minimum green light displaying time of pedestrian phases;
6. maximum release service time;
7. the time headway threshold value of Data mining device and holding time threshold value;
8. the green light of the rearmounted left turn phase of entrance driveway craspedodrome phase place and same import opens the bright mistiming;
9. the green light concluding time of entrance driveway craspedodrome phase place and its circuit phase place that counterclockwise is close to is poor.
The invention has the beneficial effects as follows: be applicable to flexible and changeable phase structure, in time responder motor-car transport need change continuously in short-term, successfully manage the circuit Deadlock.
Description of drawings
Fig. 1-a is the traffic conflict point distribution plan that no signal is controlled four tunnel traffic circles.
Fig. 1-b is the traffic conflict point distribution plan that signal controlling four tunnel traffic circles are arranged.
Fig. 2 is phase bit number schematic diagram.
Fig. 3 is phase combination scheme schematic diagram.
Fig. 4 is phase place DISPLAY ORDER schematic diagram.
Fig. 5 is the Technical Architecture figure of four-way ring intersection traffic response control method.
Fig. 6 is Gmin K2, PAnd t F3Numerical relation figure.
Fig. 7 is the installation position schematic diagram of detecting device.
Among the figure:
Figure GDA0000027111690000051
Enter to encircle motor vehicle and Pedestrian conflicts district
Figure GDA0000027111690000052
Go out to encircle motor vehicle and Pedestrian conflicts district
Figure GDA0000027111690000053
Enter to encircle the motor vehicle interwoven region
Go out to encircle the motor vehicle interwoven region
Figure GDA0000027111690000055
Priority rule effect conflict point
Figure GDA0000027111690000056
Signal controlling effect conflict point
Figure GDA0000027111690000057
Priority rule effect conflict point
Figure GDA0000027111690000061
Green light
Figure GDA0000027111690000062
Amber light
Figure GDA0000027111690000063
Red light
Figure GDA0000027111690000064
Entrance driveway demand detecting device
Figure GDA0000027111690000065
Circuit outlet detecting device
Figure GDA0000027111690000066
Circuit queuing detecting device
Embodiment
The specific embodiment of the present invention can be narrated from the minimum green time computing method of entrance driveway Vehicle Phase, pedestrian phases green light displaying time computing method, Loop detector layout method, Phase-switching rule, deadlock rule and 6 aspects of green time regulation rule.
At first, formulate the following rules for the ins and outs of implementing four-way ring intersection traffic response control method:
The method calculating green light interval time of 1. adopting RiLSA to recommend.
2. the green light of phase place K " rearmounted time, i.e. the phase place K of phase place K and same import " open bright mistiming DBG (K ', K ") is taken as positive integer.Therefore, phase place K " the green light green light that opens bright moment=phase place K ' open the bright moment+DBG (K ', K ").
3. with poor DEG of green light concluding time of phase place K and its phase place R that counterclockwise is close to (K ', R) be taken as positive integer.Therefore, when the green light of phase place K ' finishes, make the residue green light displaying time G of phase place R ReR=DEG (K ', R).
Embodiment 1
(1) the minimum green time computing method of entrance driveway Vehicle Phase
Utilize formula (1) to calculate the minimum green time (Gmin of phase place K K).Guarantee the minimum green time (Gmin of traffic safety K, S) general value in 2～15s.Guarantee the minimum green time (Gmin that some queuings vehicle dissipates K, QS) should so that going out the lead queued vehicle of ring, entrance driveway left turn phase smoothly, the lead queued vehicle of entrance driveway craspedodrome phase place arrive smoothly anticlockwise the 2nd circuit stop line respectively.Guarantee that pedestrains safety crosses the minimum green time (Gmin in street K, P) depend on the minimum green light displaying time (tmin of pedestrian phases F) and relevant green light interval time, and only effective to entrance driveway craspedodrome phase place.
G min K = max [ G min K , S , G min K , QS , G min K , P ] , K = K ′ max [ G min K , S , G min K , QS ] , K = K ′ ′ - - - ( 1 )
Take phase place K2 as example, introduce Gmin K, PComputing method.Gmin K2, PWith t F3Numerical relation, as shown in Figure 6, mathematical expression is seen formula (2).Introduce the minimum green light displaying time (tmin of phase place F3 F3), can utilize formula (3) to obtain Gmin K2, PMinimum value.
Gmin K2，P＝t F3+intg(R4，F3)+intg(F3，R4)-intg(R4，K2)-intg(K2，R4) (2)
Gmin K2，P≥tmin F3+intg(R4，F3)+intg(F3，R4)-intg(R4，K2)-intg(K2，R4) (3)
(2) pedestrian phases green light displaying time computing method
After obtaining the minimum green time of phase place K2, just can utilize formula (4) to calculate the green light displaying time (t of phase place F3 F3).If phase place F3 opens prior to phase place K2 and gives a green light, in the minimum green time computing module of phase place K2, calculate t F3Otherwise,, in the green light displaying time computing module of phase place F3, calculate t F3
t F3＝G K2+intg(R4，K2)+intg(K2，R4)-intg(R4，F3)-intg(F3，R4) (4)
(3) Loop detector layout method
Under " parking of left-hand rotation secondary " control model, mostly enter to encircle left turning vehicle and tend to select more near the position parking waiting of circuit stop line, the craspedodrome automobile traffic amount that enters to encircle of same import has appreciable impact for the operation characteristic of left-hand rotation motor vehicle in circuit:
If it is less 1. to enter to encircle craspedodrome automobile traffic amount, left turning vehicle has enough room and times to change to outside circuit after entering ring, go out to encircle the motor vehicle interwoven region when inner when what the vehicle queue behind outermost and time outside circuit stop line extended to the next-door neighbour, will produce certain retardation to going out to encircle vehicle operating.
If it is more 2. to enter to encircle craspedodrome automobile traffic amount, left turning vehicle changes to outside circuit without enough room and times after entering ring, they will at first be followed front truck and advance, the craspedodrome Vehicle flow for the treatment of the right side carries out lane changing when the space occurring, also has the minority left turning vehicle to select to change by force to outside circuit.In case what the left turning vehicle of inboard circuit queuing extended to the next-door neighbour enters to encircle motor vehicle interwoven region upstream, will produce obvious retardation to the left turning vehicle operation that enters to encircle of intersecting direction.When the vehicle queue behind outermost and time outside circuit stop line extend to the next-door neighbour go out to encircle motor vehicle interwoven region edge the time, will produce obvious retardation to going out to encircle vehicle operating.
The transit time resource provision of traffic circle traffic response control strategy must take into account the automobile traffic demand of stomatodeum upstream and the constraint of Circulating Lane Capacity simultaneously.Different according to installation position and functional localization are divided into 3 types with detecting device: entrance driveway demand detecting device, circuit queuing detecting device and circuit outlet detecting device, and as shown in table 2.The numbering of detecting device and concrete installation position, as shown in Figure 7.
Table 2 Loop detector layout method
Figure GDA0000027111690000071
(4) Phase-switching rule
The Phase-switching rule is in order to the duration of managing the Phase-switching process, the red time whether decision cuts off next green light phase place.The Phase-switching process that typical four way traffic response control traffic circle may occur, as shown in table 3.
The Phase-switching process that table 3 may occur
According to the difference of Phase-switching object, above-mentioned Phase-switching process is fallen into 5 types: (1) entrance driveway craspedodrome phase place is to the circuit phase place; (2) entrance driveway left-hand rotation and craspedodrome phase place are to the circuit phase place; (3) circuit phase place to the entrance driveway phase place of keeping straight on; (4) the circuit phase place is to the entrance driveway left turn phase; (5) the circuit phase place is to pedestrian phases.Each class Phase-switching process adopts a cover Phase-switching Design with Rule method, and each Phase-switching process is corresponding to one group of Phase-switching rule.In each time interval Δ t, each is organized the Phase-switching rule and will be carried out 1 time by the from top to down order.
To the east of import one side be example, introduce respectively the Phase-switching Design with Rule method be applicable to above-mentioned 5 class Phase-switching processes.
Class1: phase place K6 is to the Phase-switching rule of phase place R2
Rule 1: if T K6-R2＞0, make T K6-R2=T K6-R2+ Δ t, executing rule 2, otherwise, jump out this group rule.
Rule 2: if T K6-R2〉=intg (K6, R2)+Δ t, executing rule 3, otherwise, jump out this group rule.
Rule 3: if S K1〉=intg (K1, R2)+Δ t, the red time that cuts off phase place R2 makes T K6-R2=0, jump out this group rule, otherwise, jump out this group rule.
Type 2: phase place K1 and K6 are to the Phase-switching rule of phase place R2
Rule 1: if T K1﹠amp; K6-R2＞0, make T K1﹠amp; K6-R2=T K1﹠amp; K6-R2+ Δ t, executing rule 2, otherwise, jump out this group rule.
Rule 2: if T K1﹠amp; K6-R2〉=max[intg (K1, R2), intg (K6, R2)]+Δ t, the red time that cuts off phase place R2 makes T K1﹠amp; K6-R2=0, jump out this group rule, otherwise, jump out this group rule.
Type 3: phase place R2 is to the Phase-switching rule of phase place K6
Rule 1: if T R2-K6＞0, make T R2-K6=T R2-K6+ Δ t, executing rule 2, otherwise, jump out this group rule.
Rule 2: if T R2-K6〉=intg (R2, K6)+Δ t, executing rule 3, otherwise, jump out this group rule.
Rule 3: if S F2〉=intg (F2, K6)+Δ t, the red time that cuts off phase place K6 makes T R2-K6=0, jump out this group rule, otherwise, jump out this group rule.
Type 4: phase place R2 is to the Phase-switching rule of phase place K1
Rule 1: if T R2-K1＞0, make T R2-K1=T R2-K1+ Δ t, executing rule 2, otherwise, jump out this group rule.
Rule 2: if X K1=1, executing rule 3, otherwise, executing rule 5.
Rule 3: if T R2-K1〉=intg (R2, K1)+Δ t, executing rule 4, otherwise, jump out this group rule.
Rule 4: if S F2〉=intg (F2, K1)+Δ t, the red time that cuts off phase place K1 makes T R2-K1=0, jump out this group rule, otherwise, jump out this group rule.
Rule 5: if intg (R2, K1) 〉=intg (R2, K6)+DBG (K1, K6), executing rule 3, otherwise, executing rule 6.
Rule 6: if T R2-K1〉=intg (R2, K6)+DBG (K1, K6)+Δ t, executing rule 4, otherwise, jump out this group rule.
Type 5: phase place R2 is to the Phase-switching rule of phase place F1
Rule 1: if T R2-F1＞0, make T R2-F1=T R2-F1+ Δ t, executing rule 2, otherwise, jump out this group rule.
Rule 2: if T R2-F1〉=intg (R2, F1)+Δ t, the red time that cuts off phase place F1 makes T R2-F1=0, jump out this group rule, otherwise, jump out this group rule.
(5) deadlock rule
The deadlock rule is in order to judge circuit deadlock state, management circuit release process, and the crucial traffic events that it relates to comprises:
1. any 2 outermost that go out to encircle the motor vehicle interwoven region go out to encircle passage and stop up, i.e. the holding time of respective rings road outlet detecting device is all greater than a certain threshold value.
2. go out to encircle that passage stops up goes out to encircle the motor vehicle interwoven region for outermost, go out to encircle the current retardance that may be subject to outermost circuit queuing vehicle of vehicle, namely the holding time of corresponding outermost circuit queuing detecting device is greater than a certain threshold value.
3. any 3 outermost that go out to encircle the motor vehicle interwoven region go out to encircle passage unimpeded, i.e. the time headway of respective rings road outlet detecting device is all greater than a certain threshold value.
4. arrive maximum release service time.
If crucial traffic events 1 and 2 occurs simultaneously, think that circuit closes on deadlock state, makes B Lock=1; If crucial traffic events 3 occurs, think the early warning of circuit Dead lock to make B Unlock=1.The deadlock rule comprises following 8 logic rules:
Rule 1: if not yet start circuit release process, executing rule 2, otherwise, executing rule 6.
Rule 2: if B Lock=1, executing rule 3, otherwise, jump out this rule.
Rule 3: if the entrance driveway phase place shows green light, executing rule 4, otherwise, executing rule 5.
Rule 4: if the current green light phase place of entrance driveway has all arrived minimum green time, start circuit release process, cut off the green time of the current green light phase place of entrance driveway, activate corresponding Phase-switching process (it is Δ t that the duration initial value of corresponding Phase-switching process is composed), executing rule 6, otherwise, jump out this rule.
Rule 5: if (G ReR3＞0) ﹠amp; (G ReR1＞0), makes G ReR1=G ReR3=0, start circuit release process, executing rule 6, otherwise, make G ReR2=G ReR4=0, start circuit release process, executing rule 6.
Rule 6: if u＜Umax, executing rule 7, otherwise, executing rule 8.
Rule 7: if B Unlock=1, executing rule 8, otherwise, jump out this rule.
Rule 8: if the upper green light phase place before the circuit release process initiation comes from the north and south side-entrance, make G ReR2=G ReR4=0, jump out this rule, otherwise, make G ReR1=G ReR3=0, jump out this rule.
(6) green time regulation rule
The green time of green time regulation rule in order to determine whether to cut off the entrance driveway phase place.Phase place K (after K ∈ K ', K ") arrive minimum green time, affect the crucial traffic events whether its green time cut off and comprise:
1. phase place K arrives maximum green time.
2. phase place K no longer requires to prolong green time, and namely the time headway of entrance driveway demand detecting device priority or while are greater than a certain threshold value.
3. phase place K counterclockwise the 2nd outermost that goes out to encircle the motor vehicle interwoven region go out to encircle passage and stop up, i.e. the holding time of respective rings road outlet detecting device is greater than a certain threshold value.
4. phase place K counterclockwise the 2nd go out to encircle the motor vehicle interwoven region go out to encircle the retardance that vehicle pass-through may be subject to outermost circuit queuing vehicle, namely the holding time of corresponding outermost circuit queuing detecting device is all greater than a certain threshold value.
5. phase place K counterclockwise the 2nd go out to encircle going out to encircle vehicle pass-through and may being subject to time retardance of outside circuit queuing vehicle of motor vehicle interwoven region, namely the holding time of corresponding outside circuit queuing detecting device is all greater than a certain threshold value.
6. the vehicle queue of inboard circuit extends to clockwise direction next-door neighbour's circuit stop line, and namely the holding time of the most inboard corresponding circuit queuing detecting device is greater than a certain threshold value.
Keep straight on and left turn phase for entrance driveway, design respectively the green time regulation rule.The green time regulation rule of entrance driveway craspedodrome phase place can provide two suggestions cutting off this phase place green time: cut off immediately or allow and cut off.According to the running status of the current green light phase place of entrance driveway and the suggestion of cutting off entrance driveway craspedodrome phase place green time, determine the green time that whether cuts off simultaneously the current green light phase place of entrance driveway.The green time regulation rule of entrance driveway left turn phase can directly determine whether to cut off the green time of this phase place.
Hereinafter, to the east of import one side be example, introduce respectively the green time regulation rule method for designing be applicable to entrance driveway craspedodrome phase place (K6) and entrance driveway left turn phase (K1).
The green time regulation rule of phase place K6 comprises following 7 logic rules:
Rule 1: if determined to cut off the green time of phase place K6, jump out this rule, otherwise, executing rule 2.
Rule 2: if G K6〉=Gmax K6, make B IendK6=B EndK6=1, executing rule 5, otherwise, executing rule 3.
Rule 3: if B GapK6=1, make B EndK6=1, executing rule 5, otherwise, executing rule 4.
Rule 4: if O R44＞T O, make B EndK6=1, executing rule 5, otherwise, jump out this rule.
Rule 5: if B IendK6=1, executing rule 6, otherwise, executing rule 7.
Rule 6: if the current green light phase place of entrance driveway has all arrived minimum green time, the green time that cuts off simultaneously the current green light phase place of entrance driveway activates corresponding Phase-switching process, makes G ReR2=DEG (K8, R2), G ReR4=DEG (K6, R4) jumps out this rule, otherwise, executing rule 7.
Rule 7: if the current green light phase place of entrance driveway all allows to cut off green time, cut off simultaneously the green time of the current green light phase place of entrance driveway, activate corresponding Phase-switching process, make G ReR2=DEG (K8, R2), G ReR4=DEG (K6, R4) jumps out this rule, otherwise, jump out this rule.
The green time regulation rule of phase place K1 comprises following 5 logic rules:
Rule 1: if determined to cut off the green time of phase place K1, jump out this rule, otherwise, executing rule 2.
Rule 2: if G K1〉=Gmax K1, the green time that cuts off phase place K1 makes B EndK1=1, jump out this rule, otherwise, executing rule 3.
Rule 3: if B GapK1=1, the green time that cuts off phase place K1 makes B EndK1=1, jump out this rule, otherwise, executing rule 4.
Rule 4: if (O R41〉=T O) ﹠amp; (O R42〉=T O), the green time that cuts off phase place K1 makes B EndK1=1, jump out this rule, otherwise, executing rule 5.
Rule 5: if O R43〉=T O, the green time that cuts off phase place K1 makes B EndK1=1, jump out this rule, otherwise, jump out this rule.

Claims (1)

1. a four-way ring intersection traffic response control method comprises that phase structure designs and the content of two aspects of control method design, it is characterized in that:
Symbol Specific explanations K The entrance driveway phase identification, K ∈ K1, K2 ..., K8 K' Entrance driveway craspedodrome phase identification, K'=K2, K4, K6, or K8 K'' Entrance driveway left turn phase sign, K''=K1, K3, K5, or K7 R The circuit phase identification, R ∈ R1, R2, R3, R4 F The pedestrian phases sign, F ∈ F1, F2, F3, F4 Z, Z' Phase identification, Z ∈ K, R, F; Z ' ∈ K, R, F; Z ≠ Z' Gmin K The minimum green time of phase place K, second Gmin K, S Phase place K guarantees the minimum green time of traffic safety, second Gmin K, P Phase place K guarantees that pedestrains safety crosses the minimum green time in street, second Gmin K, QS Phase place K guarantees the minimum green time that some queuings vehicle dissipates, second G Z The current green light displaying time of phase place K, second G reR The residue green light displaying time of phase place R, second intg(Z, Z') The green light interval time of phase place Z to Z', second t F The green light displaying time of phase place F, second tmin F The minimum green light displaying time of phase place F, second Umax Maximum release service time, second u Current release service time, second B lock Boolean quantity, B lock=1: circuit closes on deadlock state B unlock Boolean quantity, B unlock=1: circuit Dead lock state
(1), phase structure design
(1) traffic conflict point distributes: the traffic conflict point of signal controlling traffic circle is divided into signal controlling effect conflict point and priority rule effect conflict point; Calculate green light during interval time, only need attention signal control action conflict point;
(2) phase place setting: adopt the phase place method to set up of " parking of left-hand rotation secondary " control model, have 4 entrance driveway craspedodrome Vehicle Phases, 4 entrance driveway left-hand rotation Vehicle Phases, 4 circuit phase places and 4 pedestrian phases;
(3) phase combination scheme: typical four way traffic response control traffic circle produces 9 kinds of phase combination schemes, and they are:
Scheme 1: consisted of by phase place K1, K2, K5, K6, R1, R3, F1 and F3;
Scheme 2: consisted of by phase place K2, K6, R1, R3, F1 and F3;
Scheme 3: consisted of by phase place K2, K5, K6, R1, R3, F1 and F3;
Scheme 4: consisted of by phase place K1, K2, K6, R1, R3, F1 and F3;
Scheme 5: consisted of by phase place K3, K4, K7, K8, R2, R4, F2 and F4;
Scheme 6: consisted of by phase place K4, K8, R2, R4, F2 and F4;
Scheme 7: consisted of by phase place K4, K7, K8, R2, R4, F2 and F4;
Scheme 8: consisted of by phase place K3, K4, K8, R2, R4, F2 and F4;
Scheme 9: consisted of by phase place R1, R2, R3 and R4;
Scheme 1 ~ 8 is called conventional phase combination scheme, and scheme 9 is called encircles clearly the phase combination scheme; When circuit closes on " deadlock " state, will enable " encircling clearly the phase combination scheme ";
(4) phase place DISPLAY ORDER: define a kind of attribute for the entrance driveway left turn phase, i.e. preposition left-hand rotation and rearmounted left-hand rotation; The craspedodrome phase-locking of preposition left turn phase and same import obtains right-of-way, and the craspedodrome phase place that rearmounted left turn phase obviously lags behind same import obtains right-of-way; By analyzing the issuable phase place DISPLAY ORDER in typical four way traffic response control traffic circle, obtain 9 primitive rules that alternate about right-of-way:
1. can independently prolong or cut off this to the green time of the entrance driveway left turn phase of subtend;
2. must prolong simultaneously this to the green time of the entrance driveway craspedodrome phase place of subtend;
When 3. carrying out the right-of-way change between North and South direction and the east-west direction, the green time that must cut off simultaneously the current green light phase place of entrance driveway;
If 4. cut off the green time of entrance driveway craspedodrome phase place, its next-door neighbour's circuit phase place will become next green light phase place;
5. green time that can the independent trip pedestrian phases;
6. the circuit phase place should lag behind its clockwise direction next-door neighbour's entrance driveway craspedodrome phase place cut-out green time;
If 7. cut off the green time of circuit phase place, its next-door neighbour's entrance driveway phase place and will become next green light phase place with pedestrian phases that this circuit phase place is conflicted each other;
8. after confirming that circuit closes on deadlock state, when carrying out the right-of-way change between North and South direction that and if only and if the east-west direction, allow to enable and encircle clearly the phase combination scheme;
9. after circuit closes on deadlock state and removes, should give the phase place that North and South direction or east-west direction at first obtain right-of-way with right-of-way according to conventional phase place DISPLAY ORDER;
(2) control method design
From the minimum green time of entrance driveway Vehicle Phase and pedestrian phases green light displaying time computing method, Loop detector layout method, Phase-switching rule, deadlock rule and 5 aspect narrations of green time regulation rule;
(1) the minimum green time of entrance driveway Vehicle Phase and pedestrian phases green light displaying time computing method
Utilize formula (1) to calculate the minimum green time (Gmin of phase place K K); Guarantee the minimum green time (Gmin of traffic safety K, S) general value in 2 ~ 15 s; Guarantee the minimum green time (Gmin that some queuings vehicle dissipates K, QS) should so that going out the lead queued vehicle of ring, entrance driveway left turn phase smoothly, the lead queued vehicle of entrance driveway craspedodrome phase place arrive smoothly anticlockwise the 2nd circuit stop line respectively; Guarantee that pedestrains safety crosses the minimum green time (Gmin in street K, P) depend on the minimum green light displaying time (tmin of pedestrian phases F F) and relevant green light interval time, and only effective to entrance driveway craspedodrome phase place;
G min K = max [ G min K , S , G min K , QS , G min K , P ] , K = K ′ max [ G min K , S , G min K , QS ] , K = K ′ ′ - - - ( 1 )
Take phase place K2 as example, introduce Gmin K, PComputing method; Gmin K2, PWith t F3Numerical relation see formula (2); Introduce the minimum green light displaying time (tmin of phase place F3 F3), can utilize formula (3) to obtain Gmin K2, PMinimum value;
Gmin K2,P=t F3+intg(R4,F3)+intg(F3,R4)-intg(R4,K2)-intg(K2,R4) (2)
Gmin K2,P≥tmin F3+inth(R4,F3)+intg(F3,R4)-inth(R4,K2)-intg(K2,R4) (3)
After obtaining the minimum green time of phase place K2, just can utilize formula (4) to calculate the green light displaying time (t of phase place F3 F3); If phase place F3 opens prior to phase place K2 and gives a green light, in the minimum green time computing module of phase place K2, calculate t F3Otherwise,, in the green light displaying time computing module of phase place F3, calculate t F3
t F3=G K2+intg(R4,K2)+intg(K2,R4)-intg(R4,F3)-intg(F3,R4) (4)
The green light displaying time computing method of the minimum green time computing method of entrance driveway Vehicle Phase K4, K6 and K8 and pedestrian phases F1, F2, F4 are all with reference to the minimum green time computing method of entrance driveway Vehicle Phase K2 and the green light displaying time computing method of pedestrian phases F3;
(2) Loop detector layout method
Different according to installation position and functional localization are divided into 3 types with detecting device: entrance driveway demand detecting device, circuit queuing detecting device and circuit outlet detecting device, and as shown in table 1;
Table 1 Loop detector layout method
Figure FDA0000235341322
(3) Phase-switching rule
The Phase-switching rule is in order to the duration of managing the Phase-switching process, the red time whether decision cuts off next green light phase place; The Phase-switching process that typical four way traffic response control traffic circle may occur, as shown in table 2;
The Phase-switching process that table 2 may occur
Figure FDA0000235341323
In the table 2, if circuit phase place R1, R2, R3 or R4 are current green light phase places, next green light phase place is respectively each self-corresponding K position and F position;
According to the difference of Phase-switching object, above-mentioned Phase-switching process is fallen into 5 types: (1) entrance driveway craspedodrome phase place is to the circuit phase place; (2) entrance driveway left-hand rotation and craspedodrome phase place are to the circuit phase place; (3) circuit phase place to the entrance driveway phase place of keeping straight on; (4) the circuit phase place is to the entrance driveway left turn phase; (5) the circuit phase place is to pedestrian phases; Each class Phase-switching process adopts a cover Phase-switching Design with Rule method, and each Phase-switching process is corresponding to one group of Phase-switching rule; In each time interval t, each is organized the Phase-switching rule and will be carried out 1 time by the from top to down order;
(4) deadlock rule
The deadlock rule is in order to judge circuit deadlock state, management circuit release process, and the crucial traffic events that it relates to comprises:
1. any 2 outermost that go out to encircle the motor vehicle interwoven region go out to encircle passage and stop up, i.e. the holding time of respective rings road outlet detecting device is all greater than a certain threshold value;
2. go out to encircle that passage stops up goes out to encircle the motor vehicle interwoven region for outermost, go out to encircle the current retardance that may be subject to outermost circuit queuing vehicle of vehicle, namely the holding time of corresponding outermost circuit queuing detecting device is greater than a certain threshold value;
3. any 3 outermost that go out to encircle the motor vehicle interwoven region go out to encircle passage unimpeded, i.e. the time headway of respective rings road outlet detecting device is all greater than a certain threshold value;
4. arrive maximum release service time;
If crucial traffic events 1 and 2 occurs simultaneously, think that circuit closes on deadlock state, makes B Lock=1; If crucial traffic events 3 occurs, think the early warning of circuit Dead lock to make B Unlock=1; The deadlock rule comprises following 8 logic rules:
Rule 1: if not yet start circuit release process, executing rule 2, otherwise, executing rule 6;
Rule 2: if B Lock=1, executing rule 3, otherwise, jump out this rule;
Rule 3: if the entrance driveway phase place shows green light, executing rule 4, otherwise, executing rule 5;
Rule 4: if the current green light phase place of entrance driveway has all arrived minimum green time, start circuit release process, the green time that cuts off the current green light phase place of entrance driveway, it is t that the duration initial value of corresponding Phase-switching process is composed, executing rule 6, otherwise, jump out this rule;
Rule 5: if (G ReR30) ﹠amp; (G ReR10), make G ReR1=G ReR3=0, start circuit release process, executing rule 6, otherwise, make G ReR2=G ReR4=0, start circuit release process, executing rule 6;
Rule 6: if u＜Umax, executing rule 7, otherwise, executing rule 8;
Rule 7: if B Unlock=1, executing rule 8, otherwise, jump out this rule;
Rule 8: if the upper green light phase place before the circuit release process initiation comes from the north and south side-entrance, make G ReR2=G ReR4=0, jump out this rule, otherwise, make G ReR1=G ReR3=0, jump out this rule;
(5) green time regulation rule
The green time of green time regulation rule in order to determine whether to cut off the entrance driveway phase place; Phase place K(K ∈ K', K'') arrive minimum green time after, affect the crucial traffic events whether its green time cut off and comprise:
1. phase place K arrives maximum green time;
2. phase place K no longer requires to prolong green time, and namely the time headway of entrance driveway demand detecting device priority or while are greater than a certain threshold value;
3. phase place K counterclockwise the 2nd outermost that goes out to encircle the motor vehicle interwoven region go out to encircle passage and stop up, i.e. the holding time of respective rings road outlet detecting device is greater than a certain threshold value;
4. phase place K counterclockwise the 2nd go out to encircle the motor vehicle interwoven region go out to encircle the retardance that vehicle pass-through may be subject to outermost circuit queuing vehicle, namely the holding time of corresponding outermost circuit queuing detecting device is all greater than a certain threshold value;
5. phase place K counterclockwise the 2nd go out to encircle going out to encircle vehicle pass-through and may being subject to time retardance of outside circuit queuing vehicle of motor vehicle interwoven region, namely the holding time of corresponding outside circuit queuing detecting device is all greater than a certain threshold value;
6. the vehicle queue of inboard circuit extends to clockwise direction next-door neighbour's circuit stop line, and namely the holding time of the most inboard corresponding circuit queuing detecting device is greater than a certain threshold value;
Keep straight on and left turn phase for entrance driveway, design respectively the green time regulation rule; The green time regulation rule of entrance driveway craspedodrome phase place can provide two suggestions cutting off this phase place green time: cut off immediately or allow and cut off; According to the running status of the current green light phase place of entrance driveway and the suggestion of cutting off entrance driveway craspedodrome phase place green time, determine the green time that whether cuts off simultaneously the current green light phase place of entrance driveway; The green time regulation rule of entrance driveway left turn phase can directly determine whether to cut off the green time of this phase place.
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