CN102169634A - A priority evacuation control method for traffic congestion - Google Patents
A priority evacuation control method for traffic congestion Download PDFInfo
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Abstract
The invention relates to a priority evacuation control method for traffic congestion and belongs to the field of intelligent traffic technology. The method comprises the steps of analyzing influence relations among the congested traffic flows according to the collected data of the traffic flows in real time, figuring out influence factors of evacuation priority of the congestion, judging the evacuation priorities of the congested traffic flows by employing the influence factors and BP neutral network, and performing optimization and coordination control of signal sequence, signal phase and green light time length. The control method realizes the rapid evacuation of the formed traffic congestion and accordingly solves the problems that a conventional signal control system does not perform the real-time analysis and determination of the evacuation priorities of the congested traffic flows, does not take full advantage of the evacuation priority for signal control and fails to evacuate the congested traffic rapidly.
Description
Technical field
The invention belongs to the intelligent transport technology field, relating to is a kind of traffic signal control method.
Background technology
Intelligent traffic control system is a kind of effective means that relieve the congestion of traffic.The control of existing control system under non-congestion state is respond well, but causes congested control poor effect owing to lack congested targetedly evacuation control strategy under congestion state.
Present traffic control system is having the following disadvantages aspect the congested evacuation control:
One, lacks at the real-time in-depth analysis of traffic congestion and evacuate rank and judge
Only rely on some numerical value index to detect congestion state, the relation of the influence between the congested wagon flow is not carried out deep analysis, though so just caused to detect congestedly, not knowing congested is because the effect of those wagon flows causes, congested evacuation is not provided detailed supplementary;
Only rely on historical data to decide the congested wagon flow of all directions to evacuate priority, the influence degree of area jamming is not formulated corresponding congested evacuation priority in real time according to congested wagon flow, it is unilateral that the wagon flow that obtains is like this evacuated priority, or even wrong.
Two, lack signal control strategy and method at congestion state
Traditional signal timing dial theory has restricted the signal controlling under congestion condition, and fixing cycle and phase place phase sequence make signal controlling can not adapt to the congested road network environment of dynamic change significantly.Without any priority level difference, cause control system not know which wagon flow of this prior-release is maximum to the congested contribution of transport solution between the congested wagon flow.
There is not to detect in real time and to analyze the optimization that the congested evacuation precedence information that obtains is used to formulate congested evacuation control strategy and controlled variable.Cause congested evacuation strategy and congestion detection to disconnect, can not optimize the phase place phase sequence according to the real-time analysis information of reflection congestion condition, the signal coordinating configuration in controlled variable and whole zone such as when green.
Summary of the invention
Evacuate priority thereby the purpose of this invention is to provide the congested wagon flow of a kind of can real-time analysis congested comprehensive and accurate judgement of wagon flow influence relation, and utilize and evacuate the congested evacuation signal control method that priority is carried out phase sequence, phase place, optimized when green.Having overcome the real-time analysis of existing whistle control system shortage judges congested wagon flow evacuation priority and underuses the deficiency that evacuation priority is carried out signal controlling.
The technical solution adopted for the present invention to solve the technical problems is:
Control method is preferentially evacuated in a kind of traffic congestion, may further comprise the steps:
Step 4, congested evacuation control signal timing are optimized: the optimization of congested evacuation control signal timing was finished in the window a computing time, when a time window end will be from recomputating.The size of the priority weights sum of the congested wagon flow that is comprised according to each candidate's phase place is arranged the phase sequence of phase place.According to the order of phase sequence, calculate according to the average queue length of the congested wagon flow of each phase place and to intend letting pass duration when green, and join among the time window.Begin successively the congested wagon flow that comprises in the time window to be coordinated control from the highest wagon flow of priority according to the regional coordination of congested wagon flow relation, adjust phase sequence and the when green duration of each phase place in time window.
In described step 2, it is as follows that the congested car flow information of traffic network is set up wagon flow phase analysis model algorithm:
1) initial wagon flow phase analysis model is provided with the crossing set and is M[n], n is a crossing quantity.Congested wagon flow set L[k is set], k is congested wagon flow quantity.
2) for each element M [i] in the crossing set, according to crossing phase place timing scheme to set M[i] in interpolation phase place timing node I[m], m value 1-4 represents different timing schemes.
3) at same crossing set M[i] in set up the mutual exclusion limit, each the timing scheme node that matches that is about in the set links to each other with the mutual exclusion limit, the node that links to each other with the mutual exclusion limit can not be passed through simultaneously, as long as promptly there is a timing scheme node to be passed through, other node identification is invalid, up to switching to next controlling schemes.
4) for each the element L[i among the congested wagon flow set L] investigate, increase enters the limit and flows out the limit on the crossing phase place timing scheme node that it passes through, and increase flows into the limit on the crossing timing scheme node that its wait request is passed through.
In described step 2, congested wagon flow resource waits for that the relational model construction algorithm is as follows:
1) the congested wagon flow resource of initialization is waited for relational model, the crossing set is set is I[n], n is a crossing quantity.Congested wagon flow set L[k is set], k is congested wagon flow quantity.
2) each crossing set M[i in the traversal wagon flow phase model], carry out:
Each of 1. searching in the set has the phase place timing summit of fillet;
If 2. existing inflow limit has the limit of outflow and this two limits to belong to same wagon flow again in the summit, then wait for increasing the directed edge that points to this wagon flow node from this intersection node in the relational model in congested wagon flow;
Do not flow out the limit if 3. have only the limit of inflow in the summit, then wait for increasing the directed edge that points to this intersection node from this wagon flow node in the relational model in congested wagon flow.
In described step 2, the wagon flow transitive dependency is as follows with the detection algorithm that circulation relies on:
1) for each the bar wagon flow i among the road network resources relationship wait figure, carry out depth-first search, if search wagon flow i once more, then wagon flow i deadlock number of rings of living in amount+1 is write down deadlock ring length (i.e. the wagon flow number that comprises in the ring), otherwise is jumped to step (2).
2) carry out reverse deep search for each the bar wagon flow i among the road network resources relationship wait figure, write down the wagon flow state that each lives through, and wagon flow transitive dependency quantity+1.Jump to step (3).
3) every wagon flow i deadlock number of rings of living in amount of statistics, deadlock ring total length of living in, transitive dependency wagon flow quantity.
In described step 3, it is as follows to evacuate the priority decision method based on the congested wagon flow of BP neural network:
1) use the sample of congested evacuation factor of influence and decision level that the BP neural network is trained;
2) obtain wagon flow average occupancy absolute difference, vehicle average occupancy absolute difference, wagon flow deadlock number of rings of living in amount, wagon flow deadlock ring of living in size, these congested evacuation rank factors of influence of transitive dependency wagon flow quantity according to specified message acquisition time interval t.
3) be input to factor of influence in the BP neural network that has trained as input parameter;
4) judgement of BP neural network output result is exactly the evacuation priority level of this congested wagon flow, the congested evacuation priority level of this wagon flow is offered traffic congestion evacuate control system.
5) make t=t+1, step (2) is returned in redirect.
Effect of the present invention and benefit are:
(1) the present invention can analyze the influence of whole area jamming the wait of the resource between the congested wagon flow in zone relation and wagon flow accurately by detected wagon flow data in real time, and then obtain influencing congested factor of influence, and judge the evacuation priority of congested wagon flow by congested factor of influence.
(2) the present invention has provided the congested evacuation signal control method at congestion state, the congested wagon flow that this method utilization is judged is in real time evacuated priority and is optimized phase place, phase sequence timing scheme, traditional fixedly phase-sequence phase and All factors being equal, preference will be give to authority system have been broken through, taken into full account the active demand when green of high priority wagon flow, be the distribution of each wagon flow maximal efficiency when green reasonably, overcome the deficiency that existing control method can not the rapid evacuation traffic congestion according to priority.
Description of drawings
Fig. 1 geomagnetic sensor setting synoptic diagram.
Fig. 2 phase place timing scheme synoptic diagram.
The congested wagon flow synoptic diagram of Fig. 3 zone road network.
Fig. 4 zone road network wagon flow phase diagram.
Wagon flow in Fig. 5 wagon flow phase model and crossing graph of a relation.
The congested wagon flow of Fig. 6 is waited for relation model figure.
Congested wagon flow of Fig. 7 (a) and crossing resource occupy graph of a relation.
The wait graph of a relation of congested wagon flow of Fig. 7 (b) and crossing resource.
Two kinds of graphs of a relation between the congested wagon flow of Fig. 8.
The congested evacuation rank of Fig. 9 is judged neural network structure figure.
Figure 10 intersection wagon flow synoptic diagram.
Figure 11 signal controlling phase sets synoptic diagram.
Figure 12 phase place is inserted time window process synoptic diagram.
Preemption processes synoptic diagram when crossing, Figure 13 downstream phase place is green.
Embodiment
Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.
1, traffic congestion data is gathered in real time
Control method is preferentially evacuated in traffic congestion needs detecting device average occupancy relative mistake, average occupancy absolute difference, track queue length, track to turn to these several basic parameters of rate.Bury the cloth scheme by geomagnetic sensor as Fig. 1, before going into road junction and downstream stop line, the upstream of left-hand rotation, craspedodrome and right-turn lane buries the geomagnetic sensor node respectively underground, and the other management node of settling of the road in the maximum communication scope of sensor, the data transmission and the Control on Communication of responsible each sensor.The principle of work of base area Magnetic Sensor when vehicle process sensor, can cause sensor to send disturbance, judges that according to the range value that disturbance produced the vehicle process is arranged.The vehicle number that obtains passing through in the unit interval by geomagnetic sensor, and then calculate these parameters according to the basis of calculation of each basic parameter.
2, congested wagon flow relationship analysis
Congested wagon flow analysis comprises congested wagon flow calculating, the wagon flow phase analysis, and the wagon flow resource is waited for this several steps of relationship analysis.
(1) congested wagon flow is calculated
The calculating of congested wagon flow comprises two parts, and the congestion detection in the congested highway section is calculated with the congested wagon flow of striding the highway section.For the congestion detection in the highway section, it is congested that the average occupancy absolute difference of use highway section upstream and downstream detecting device and relative mistake are differentiated the highway section, after the congestion state detection in highway section finishes, turns to the rate calculation of parameter to go out to stride the congested wagon flow in highway section by combination.By turning to rate discrete vehicle can be converted into continuous fleet.The concrete congested wagon flow computing method in highway section of striding are as follows:
1) congested according to whether taking place in average occupancy relative mistake and the average occupancy absolute difference detection highway section, when generation is congested, entered for the 2nd step;
2) all directions of calculating highway section downstream road junction turn to rate, and the highway section wagon flow according to turning to rate to be divided into the congested wagon flow of three directions, was entered for the 3rd step;
3) detect bogie car flow to the highway section that reaches whether take place congested, if take place congested then connect two congested highway sections and form the congested wagon flow of striding the highway section.
Above 3 steps are carried out in each highway section circulation in the regional road network, will calculate some congested wagon flows of striding a plurality of highway sections.Striding the congested wagon flow in highway section is a relatively traffic flow object of macroscopic view, is used for portraying the propagation condition of congested wagon flow in the road network.Next striding the congested wagon flow in highway section in congested wagon flow relationship analysis will participate in calculating as important parameters.
(2) wagon flow phase analysis
The analysis of congested wagon flow phase relation is calculated by wagon flow phase relation model.This model is according to counting car flow information and wagon flow required phase place and the timing scheme thereof in each crossing, the actual traffic road network is converted into by the crossing, phase place, the roadside, road, the wagon flow phase diagram that the mutual exclusion limit is formed, purpose is in order to show wagon flow and the relation of road network resource in road network clearly, for further analyzing occupying of wagon flow and path resource, applies for preparing with waiting for relation.
It is as follows that the congested car flow information of traffic network is set up wagon flow phase analysis model algorithm:
1) initial wagon flow phase analysis model is provided with the crossing set and is M[n], n is a crossing quantity.Congested wagon flow set L[k is set], k is congested wagon flow quantity.
2) for each element M [i] in the crossing set, according to crossing phase place timing scheme to set M[i] in interpolation phase place timing node I[m], m value 1-4 represents different timing schemes.
3) at same crossing set M[i] in set up the mutual exclusion limit, each the timing scheme node that matches that is about in the set links to each other with the mutual exclusion limit, the node that links to each other with the mutual exclusion limit can not be passed through simultaneously, as long as promptly there is a timing scheme node to be passed through, other node identification is invalid, up to switching to next controlling schemes.
4) for each the element L[i among the congested wagon flow set L] investigate, increase enters the limit and flows out the limit on the crossing phase place timing scheme node that it passes through, and increase flows into the limit on the crossing timing scheme node that its wait request is passed through.
An areas of congestion that marks off in the Xigang District with Fig. 3 below is an example, and regional road network is set up wagon flow phase analysis model.Region memory is at congested wagon flow A, B, C, D, E, F, G, H, and each crossing is represented by I1-I30.Set up wagon flow phase analysis model as shown in Figure 4 according to the information such as congested wagon flow in the road network.Be the summit with crossing phase place timing among the figure, the highway section that wagon flow flows through is the limit, the limit be designated the highway section numbering, direction is the flow direction of wagon flow.For the crossing,, represent that then this crossing resource occupied by this stream if there is wagon flow to pass (flow into flow out again); If there is car to wait for by (flow into but do not flow out), representing that this wagon flow is applying for waiting for passes through this crossing.On the congested wagon flow phase relation of the regional road network model basis of having set up, can analyze between the congested wagon flow occupying, applying for and wait for relation easily to the crossing resource.
(3) the wagon flow resource is waited for relationship analysis
In wagon flow phase relation model, can calculate two kinds of relations of congested wagon flow and crossing.A kind of is that wagon flow is occupied the crossing resource, and a kind of is that wagon flow is waited for application crossing resource.These two kinds of passes tie up in the wagon flow phase relation model feature as shown in Figure 5, when existing inflow limit on the phase place timing scheme node of a wagon flow in the crossing has the limit of outflow to exist again, illustrate that then this wagon flow has obtained the current right-of-way in this intersection, by this intersection and occupy this intersection resource; When having only the limit of inflow not flow out the limit on the phase place timing scheme node of a wagon flow in the crossing, illustrate that then this wagon flow application obtains the right-of-way of this crossing, is waiting for by this crossing.
According to these two principles, can set up congested wagon flow resource and wait for relational model by timing scheme node in the traversal crossing.Congested wagon flow resource waits for that the relational model construction algorithm is as follows:
1) the congested wagon flow resource of initialization is waited for relational model, the crossing set is set is I[n], n is a crossing quantity.Congested wagon flow set L[k is set], k is congested wagon flow quantity.
2) each crossing set M[i in the traversal wagon flow phase model], carry out
Each of 1. searching in the set has the phase place timing summit of fillet;
If 2. existing inflow limit has the limit of outflow and this two limits to belong to same wagon flow again in the summit, then wait for increasing the directed edge that points to this wagon flow node from this intersection node in the relational model in congested wagon flow;
Do not flow out the limit if 3. have only the limit of inflow in the summit, then wait for increasing the directed edge that points to this intersection node from this wagon flow node in the relational model in congested wagon flow.
Wait for that according to congested wagon flow resource the relational model construction algorithm is that congested wagon flow resource is waited for relational model as shown in Figure 6 with the regional wagon flow phase relation model conversation among Fig. 4.Square nodes among the figure is represented the crossing resource, circular node is represented congested wagon flow, the directed edge that points to congested wagon flow node from the crossing resource node represents that this congested wagon flow occupies this crossing resource, and the directed edge that points to the crossing resource node from congested wagon flow node represents that this congested wagon flow waiting for this crossing resource of application.
3, congested wagon flow is evacuated the priority judgement
Wait in the relational model in congested wagon flow, can directly analyze two kinds of relations between wagon flow and the crossing resource: relation of occupying and wait relation.Occupying contextual definition is that wagon flow is occupied the crossing resource, represents by a directed edge from crossing resource sensing wagon flow process, shown in Fig. 7 (a); Wait for that contextual definition is the application of wagon flow process and waits for the crossing resource, represent by a directed edge, shown in Fig. 7 (b) from wagon flow process sensing crossing resource.But want to analyze the influence between the congested wagon flow, must be more deep analyze the relation between wagon flow and the wagon flow and not only be confined to relation between wagon flow and the crossing.Relation between the congested wagon flow is by above two kinds of basic occupying and wait for that the more deep analysis of relation comes out the crossing resource.
Concrete, there are two kinds of relations between wagon flow and the wagon flow: transitive dependency relation and circulation dependence.Transitive dependency is represented a wagon flow currently depends on the crossing that another wagon flow is occupied; The transitive dependency that circulation relies between some wagon flows of expression has formed a round-robin loop, and these two kinds of relations as shown in Figure 8.
Only detect the transitive dependency and the circulation dependence of congested wagon flow, just can analyze the factor of influence between the wagon flow.Provide wagon flow transitive dependency and the detection algorithm that circulates and rely on below:
1) for each the bar wagon flow i among the road network resources relationship wait figure, carry out depth-first search, if search wagon flow i once more, then wagon flow i deadlock number of rings of living in amount+1 is write down deadlock ring length (i.e. the wagon flow number that comprises in the ring), otherwise is jumped to step (2).
2) carry out reverse deep search for each the bar wagon flow i among the road network resources relationship wait figure, write down the wagon flow state that each lives through, and wagon flow transitive dependency quantity+1.Jump to step (3).
3) every wagon flow i deadlock number of rings of living in amount of statistics, deadlock ring total length of living in, transitive dependency wagon flow quantity.
For a wagon flow, there is wagon flow that it is had transitive dependency, illustrate that it has occupied the current required resource of other wagon flows, analyze the transitive dependency relation between the wagon flow, just can analyze congested is to have formed area jamming owing to current resource which wagon flow is which wagon flow taken.Simultaneously, transitive dependency is many more in its wagon flow, illustrates that other wagon flows that influenced by this wagon flow are just many more, and the status is important more in the congested wagon flow of this wagon flow in whole zone, and untimely solution can form large-area " livelock ", should more preferably evacuate; For some wagon flows, in the ring that the circulation that is in relies on, illustrate that these wagon flows have the trend that forms worst " deadlock " in the area jamming, need override to evacuate the wagon flow that is on the ring.Therefore, judge what degree traffic congestion seriously arrives, can not only pass through the high numerical value of some indexs, more should be by the influence of wagon flow to other congested wagon flows, whether take crucial road network resource, whether had these angles of trend that cause more heavy congestion to weigh congested degree.By the above-mentioned analysis that wagon flow transitive dependency and circulation are relied on as can be known, the transitive dependency wagon flow quantity of wagon flow has directly reflected the influence degree of wagon flow to other congested wagon flows in the zone, the quantity of wagon flow circulation dependence of living in deadlock ring and length directly have influence on area jamming and develop into abominable congested trend, draw based on above some analysis, think to calculate accurately the evacuation rank of the congested wagon flow of each bar, must take all factors into consideration congested wagon flow deadlock number of rings of living in amount, wagon flow deadlock ring of living in size, transitive dependency wagon flow quantity and congested wagon flow self parameter relevant with Congestion Level SPCC.
Therefore, want to judge accurately the necessary influence factor of comprehensively considering various aspects of evacuation priority level of traffic congestion wagon flow, can not go to judge congested evacuation rank separately from some aspect.Passed through the labor of front, analyzed for other judgement of traffic congestion level, can not only rely on the numerical value index of average occupancy, saturation degree, these reflection traffic congestion degree of queue length to judge the congested urgent degree that needs solution, because this is not exclusively correct.The judgement of congested wagon flow being evacuated priority level should be based on brand-new congested evacuation priority factor of influence.Below these congested evacuation priority factors of influence are done detailed introduction.
1) Congestion Level SPCC numerical value index
Be exactly the generally acknowledged index parameter of some existing judgement congestion states of Congestion Level SPCC numerical value index and degree, total as wagon flow average occupancy relative mistake, highway section queue length, wagon flow average occupancy absolute difference etc.These indexs have embodied the most basic Congestion Level SPCC of congested wagon flow, are that congested priority is judged the most basic parameter.
2) the circular wait number of rings amount of congested wagon flow
The quantity of the residing circular wait ring of congested wagon flow has directly embodied the influence degree that congested wagon flow is evacuated whole area jamming.At first, the wagon flow in the circular wait ring is easy to form the abominable traffic congestion of deadlock property, if this congested formation then whole traffic network all can be paralysed, traffic control can't cut any ice.So the wagon flow that is in the circular wait ring is crucial, should preferentially evacuate.Particularly be in the congested wagon flow in a plurality of circular wait rings, be directly connected to the abominable congested generation of a plurality of deadlock properties, should have higher evacuation priority.Through above analysis as can be seen, the quantity of the residing circular wait ring of congested wagon flow is to judge the important factor of congested wagon flow to the congested influence degree of regional road network, the residing circular wait number of rings of congested wagon flow amount is many more, and this wagon flow is big more to the influence power of the congested formation of regional road network deadlock property.
3) the circular wait ring length of congested wagon flow
The length of the residing circular wait ring of congested wagon flow has directly embodied the coverage that congested wagon flow causes area jamming.The congested wagon flow that can clearly be in the circular wait ring through analysis before is the abominable congested arch-criminal who forms deadlock property.The length of circular wait ring has then embodied the influence that this abominable area jamming will cause much scopes.The length of circular wait ring is long more, and then the abominable congested coverage of the explanation deadlock property that will form is big more, and the congested wagon flow that is in so wherein is also big more to the traffic congestion influence degree in whole zone.Therefore, the length of the residing circular wait ring of congested wagon flow also is to judge the important factor of congested wagon flow to the congested influence degree of regional road network.
4) transitive dependency wagon flow quantity
For a congested wagon flow, transitive dependency has directly embodied the influence degree of this wagon flow to other wagon flows in its wagon flow quantity.Transitive dependency has showed a wagon flow to other wagon flows in the road network current direct influence and remote effect, if one wagon flow directly depends on another wagon flow, illustrate that the wagon flow that the resource of having only the wagon flow that is relied on to abandon being occupied at present then depends on it could pass through; And the transitivity of transitive dependency, the remote effect of wagon flow have exactly been embodied to other wagon flows, though current wagon flow does not directly take the current required road network resource of some wagon flow, but, it has taken the resource of the wagon flow that those wagon flows are had a direct impact, also just limited the traffic capacity of those wagon flows indirectly, before promptly the current congestion wagon flow can not be evacuated, other wagon flow all can not obtain evacuating.Considering to be not difficult to find out that the wagon flow quantity of the transitive dependency of a wagon flow is to estimate the important indicator of this congested wagon flow to the influence of area jamming from this point, is that congested wagon flow is evacuated the important factor that rank is judged.
Congested wagon flow is evacuated the analysis of priority factor of influence through the front, can determine, congested evacuation priority factor of influence mainly comprises Congestion Level SPCC numerical value index, the circular wait number of rings amount of congested wagon flow, the circular wait ring length of congested wagon flow and congested wagon flow transitive dependency quantity.Based on these factors of influence, just can judge accurately the evacuation priority level of congested wagon flow.
The evacuation rank of traffic congestion wagon flow is divided into level Four: the immediate evacuation rank, urgently evacuate rank, important evacuation rank and common evacuation rank.The priority of other congested wagon flow of immediate evacuation level is the highest, and being in other congested wagon flow of immediate evacuation level must take measures it is evacuated control at once, otherwise will cause serious abominable congestion situation; The urgent rank of evacuating is taken second place, and being in urgent other congested wagon flow of evacuations level has had and form abominable congested trend, will not form abominable congested gradually and has influence on much other wagon flows if do not evacuate at short notice; Important evacuation rank is taken second place again, is in important other the congested wagon flow of level of evacuating a lot of other evacuations of wagon flow are seriously influenced, but can't form badly congested at short notice; Common evacuation rank is minimum, is in other wagon flow of this grade except there is in various degree congested self residing highway section and crossing, and is seldom influential to other wagon flows.
To the evacuation rank of congested wagon flow be judged setting up mapping relations between congested evacuation rank factor of influence and the congested evacuation priority level.This mapping relations are a kind of very typical nonlinear Function Mapping relations.The present invention adopts the BP neural network to set up this Nonlinear Mapping relation, carries out congested evacuation rank and judges.
The structure of congested evacuation rank neural network as shown in Figure 9.Be input as vehicle average occupancy relative mistake, vehicle average occupancy absolute difference, the total queue length of wagon flow, wagon flow deadlock number of rings of living in amount, wagon flow deadlock ring of living in size, transitive dependency wagon flow quantity, after training, be output as congested evacuation rank.It is as follows to evacuate the priority decision method based on the congested wagon flow of BP neural network:
1) use the sample of congested evacuation factor of influence and decision level that the BP neural network is trained;
2) obtain wagon flow average occupancy absolute difference, vehicle average occupancy absolute difference, wagon flow deadlock number of rings of living in amount, wagon flow deadlock ring of living in size, these congested evacuation rank factors of influence of transitive dependency wagon flow quantity according to specified message acquisition time interval t.
3) be input to factor of influence in the BP neural network that has trained as input parameter;
4) judgement of BP neural network output result is exactly the evacuation priority level of this congested wagon flow, the congested evacuation priority level of this wagon flow is offered traffic congestion evacuate control system.
5) make t=t+1, step (2) is returned in redirect.
4, congested evacuation control signal timing is optimized
Have 8 kinds of wagon flows that exist generally speaking in the intersection of left-hand rotation special lane as shown in Figure 10, exist certain conflict relationship between these 8 kinds of wagon flows, have only by different reasonable phase places and just can avoid the conflict between these wagon flows to take place.
Congested control should guarantee that selected phase place can avoid the conflict between above 8 kinds of wagon flows, pursues the optimum rate of utilization of crossing phase place again.Through above 2 consideration, 8 kinds of phase places in the phase sets of employing Figure 11.When carrying out signal controlling, can constitute the phase candidate set with these 8 kinds of phase places, decide in a certain period, to adopt and carry out congested evacuation control when green by calculating the vehicle pass-through target that adopts each phase place to reach to which phase place.Select rational phase place after cooperating the phase sequence scheme and when green allocative decision relief of traffic is congested effectively.
In the choosing among the arrangement with phase sequence of phase place, the embodiment in the optimization of phase place phase sequence is that the priority of the congested wagon flow that comprised with each phase place determines that the phase sequence of phase place arranges with congested evacuation priority application.Concrete grammar is at first to determine different priority shared weights in control, calculates the congested wagon flow priority weights sum that each phase place comprises then, and sorts according to size, obtains final phase sequence and arranges.
1) priority weight calculation method
Want to calculate phase sequence, at first will quantize the weights of priority with congested evacuation priority.But the weights of different priorities correspondence are not unalterable, and this will calculate according to each other the congested wagon flow quantity of level that obtains in real time.Defining a weights total amount is 100, the weights summation that on behalf of all wagon flows in the whole areas of congestion, this total amount own together, and every wagon flow is got corresponding value according to the priority of oneself.The congested wagon flow of each rank has an intrinsic congested coefficient of rank, and the immediate evacuation classification coefficient is α, and urgently evacuating classification coefficient is β, and important evacuation classification coefficient is δ, and common evacuation classification coefficient is ε, α＞β＞δ＞ε.These four classification coefficients are experience factors, sum up by long term experience accumulation, are used for distinguishing different other the basic weights of level of evacuating.
The immediate evacuation priority weights q of Ji Suaning thus
P, urgently evacuate priority weights q
U, important evacuation priority weights q
IAnd common evacuation priority weights q
CCalculate by formula (1), (2), (3), (4) respectively.
n
P, n
U, n
I, n
CThe quantity of representing other wagon flow of each grade.Denominator is represented the congestion level coefficient sum of congested wagon flows all in the zone, and molecule is the congestion level coefficient of current wagon flow.The importance that this expression is in the congested wagon flow of other this bar of this grade accounts for the proportion of the importance of all congested wagon flows, and the product of it and total weight value is exactly the evacuation priority weights of this congested wagon flow.The quantity of other congested wagon flow of each grade changes in the road network, so need to calculate in real time the congested evacuation priority weights of each bar wagon flow.
2) phase place phase sequence computing method
The priority of each congested wagon flow has had the weights that can quantize now, next the weights of the congested wagon flow that each phase place comprised is sued for peace.For as eight phase places among the phase sets figure of Figure 11, phase place 1 comprises two left turn traffics of east-west direction; Phase place 2 comprises two craspedodrome wagon flows of east-west direction and two right-hand rotation wagon flows; Phase place 3 comprises three wagon flows of craspedodrome, left-hand rotation, right-hand rotation from West to East; Phase place 4 comprises from the craspedodrome in south orientation north, left-hand rotation, three wagon flows of right-hand rotation; Phase place 5 comprises two left turn traffics of North and South direction; Phase place 6 comprises two craspedodrome wagon flows of North and South direction and two right-hand rotation wagon flows; Phase place 7 comprises from the craspedodrome in east orientation west, left-hand rotation, three wagon flows of right-hand rotation; Phase place 8 comprises from the craspedodrome in north orientation south, left-hand rotation, three wagon flows of right-hand rotation.
With the priority weights addition summation of all wagon flows that each phase place comprised, just obtained the priority weights of each phase place, the weights of phase place 1-8 are shown in formula (5)-(12).
p
1＝q
EWL+q
WEL (5)
p
2＝q
EWR+q
WER+q
EWM+q
WEM (6)
p
3＝q
WEL+q
WER+q
WEM (7)
p
4＝q
SNL+q
SNR+q
SNM (8)
p
5＝q
NSL+q
SNL (9)
p
6＝q
NSR+q
SNR+q
NSM+q
SNM (10)
p
7＝q
EWL+q
EWR+q
EWM (11)
p
8＝q
NSL+q
NSR+q
NSM (12)
P wherein
iRepresent i phase place, q is wagon flow priority weights, and direction represented in preceding two letters of subscript, and the track represented in last letter.This value is the priority weights sum that can obtain all congested wagon flows of right-of-way from this phase place, and it can represent the rank of phase place.When the priority weights of phase place are big more, illustrate that to need the congested wagon flow rank of this phase place right-of-way high more, quantity is many more, this phase place should be come before other phase places.
According to above principle, the priority weights p according to phase place sorts all phase places.When two phase place p values are identical, other congested wagon flow weights sum of their immediate evacuation levels relatively, weights are big comes the front; If also identical, then relatively urgent other the congested wagon flow weights sum of level of evacuating, weights are big comes the front; By that analogy, if identical other weights sum of next stage that just once compares, up to the discharge order.Through above ordering, the phase sequence of all candidate's phase places has obtained, in the time of how will introducing to phase calculation distribution green below.
3) phase place green time computing method
On the basis that phase sequence has sequenced, need be to each the phase calculation green time in the phase sequence.Wherein the green time computing method as phase place among Figure 11 1 and phase place 5 are identical, and the green time computing method of phase place 2 and phase place 6 are identical, and the green time computing method of phase place 3,4,7,8 are identical.
The green time computing method of phase place 1 and phase place 5 are as shown in Equation (13):
G
p＝max{(N
L+A
L)}×h+L
p (13)
G wherein
pBe the green time of phase place p, N
LBe the vehicle queue length that turns left, A
LBe that the vehicle that turns left arrives number, h is a saturation headway, L
pBe the loss time.Because 5 left turn traffics that comprise both direction of phase place 1 and phase place, so it is just passable as the green time of needs clearance with the maximal value that arrives vehicle only need to get the queuing of both direction, can guarantee that like this all left turning vehicles of both direction can both pass through this highway section in the scope when green.
The green time computing method of phase place 2 and phase place 6 are as shown in Equation (14):
Wherein subscript M tabular form is kept straight on, and subscript R represents to turn right, and subscript f represents forward, and subscript o represents oppositely, generally speaking, no matter is East and West direction or north-south, all can forward and reversely represent.K represents the wagon flow priority factor.Because phase place 2 and phase place 6 comprise the craspedodrome and the right-hand rotation wagon flow of both direction, so need calculate respectively earlier the queuing of all directions and arrive the vehicle number sum when calculating; Because the priority of all directions is different, so can not calculate with the vehicle number of a certain direction when green, need take all factors into consideration all wagon flows, the wagon flow that the vehicle number of each direction multiply by this direction is evacuated priority factor and is sued for peace then, last again divided by the priority factor sum of all directions, the vehicle number of finally being let pass; Multiply by saturation headway at last and add that the loss time obtains the green time of phase place.
The green time computing method of phase place 3,4,7,8 are as shown in Equation (15):
Because phase place 3,4,7,8 comprises the wagon flow of left-hand rotation, craspedodrome, three directions of turning right, so need calculate respectively earlier the queuing of all directions and arrive the vehicle number sum when calculating; Because the priority of all directions is different, so can not calculate with the vehicle number of a certain direction when green, need take all factors into consideration all wagon flows, the wagon flow that the vehicle number of each direction multiply by this direction is evacuated priority factor and is sued for peace then, last again divided by the priority factor sum of all directions, the vehicle number of finally being let pass; Multiply by saturation headway at last and add that the loss time obtains the green time of phase place.
Each phase place in the phase sequence is calculated after the required green time of phase place according to top method, with the order joining day window of all phase places according to phase sequence.The length of time window was made as 120 seconds, was provided with 3 benefits like this: first is that wagon flow comparatively dense and traffic volume are bigger under the congestion state, and time window is provided with the too small wagon flow that is unfavorable for continual and steady evacuation queuing; Second is the detection of the calculating needs overall situation of congested evacuation priority, and too for a short time being not easy of time window detects the variation waste calculated amount of wagon flow and increase transmission pressure; Thirdly be through studies show that, the people is 2-3 minute to the TL of street lamp stand-by period, to surpass the problem of maximum wait time in 120 seconds when having avoided a phase place green as time window, opposite extreme situations is that a phase place is occupied in the time window all when green fully, when a time window finishes to enter next time window, recomputate the phase place phase sequence, surpass the situation of maximum wait time when not existing a phase bit stealing green.
Phase place is as follows according to the process of the order joining day window of phase sequence: with phase sequence formation top phase place joining day window, time window reduces the green time of this phase place then, and this phase place is deleted in the phase sequence formation; If time window is excess time also, then continue from the phase sequence formation, to add applying aspect, and in time window, deduct the green time of this phase place, and so forth, to the last the time of time window is all distributed to phase place, and the signal controlling in this time window is carried out in then shut-down operation when green by current distribution, and recomputating phase place phase sequence and green time, the beginning next round is calculated.The situation of scope overtime window in the time of phase calculation green can occurring when time window finishes soon, at this moment the concluding time with time window is end, blocks phase place when green.Entering the phase place of epicycle time window as for lower the failing of priority then cancels and will not use when green.This process as shown in figure 12.Sorted phase place A, B, C, D are according among the phase sequence insertion time window among the figure, time window is not enough to load the green time of whole phase place C when phase place C inserts, therefore the concluding time with time window is end, give up remaining part, also give up in the lump when the phase place of the entry time of having no chance window is green, distribute when finally obtaining green in this time window, and be used for signal controlling.Next time window will calculate when beginning again.
Coordination approach when 4) regional phase sequence is green
Coordination control under the congestion state mainly is to carry out the coordination of signal timing dial for the crossing of the congested wagon flow process of each bar.The order ground of coordinating between a plurality of crossings for a wagon flow process mainly comprises: the crossing, upstream is reduced the vehicle number that enters by damming and is further worsened with the congestion situation of avoiding wagon flow; The congested wagon flow of rapid evacuation when the crossing, downstream increases congested wagon flow direction current green; Crossing between the upstream and downstream is coordinated to make green wave band as far as possible and is cooperated the crossing, quick arrival downstream that congested wagon flow do not stagnate and leave areas of congestion.Coordination control purpose under the congestion state has 2 points: first is that collaborative as far as possible formation green wave band is evacuated congested wagon flow; No matter whether second can be carried out green ripple and work in coordination with, must keep congested vehicle to be evenly distributed to each highway section, the saturation degree that keeps all highway sections is under standard value.In order to reach above target, need adjust the crossing phase sequence timing scheme that has formed.Because have conflict in some crossing between the congested wagon flow of each bar, so can not reach the ideal effect that whole wagon flows are coordinated control.The cardinal principle that congestion state is coordinated control down is the preferential vehicle of coordinating in the higher wagon flow of the congested evacuation priority of control, make it leave areas of congestion fast, and the lower congested wagon flow of priority may can not get optimum coordination because the wagon flow of high priority take when green, but, can reach the control effect that important more congested wagon flow is evacuated more fast for whole zone.
It is as follows to adjust scheme when according to the evacuation priority of congested wagon flow from high to low, the phase sequence that every congested wagon flow is taked is green:
A), limit when promptly congested wagon flow direction being entered regional vehicle green to crossing, the upstream processing of taking to dam of congested wagon flow in the zone;
B) from the highway section, upstream, the phase sequence of the crossing in each highway section of adjustment one by one and when green, the existing queuing vehicle in this highway section of not only will letting pass more will be let pass as much as possible and is from upstream to the vehicle that reaches, and green wave band, the congested wagon flow of fast evacuation are formed in each crossing.Even can not form effective green wave band, also will be as far as possible with congested vehicle mean allocation to each congested highway section, the saturation degree in each highway section that keeps whole zone is below standard value;
C) to the crossing, downstream of congested wagon flow, calculate the residue vehicle number of present whole piece wagon flow, improve the phase place phase sequence of congested wagon flow direction, and increase when green, deprive the priority lower one to wagon flow phase place when green, as much as possible evacuate congested wagon flow.
Above coordination control is from the highest congested wagon flow of priority, the high wagon flow of priority when coordinating control, adjust phase sequence and when green in can grab the low wagon flow of priority green the time, but, carry out self phase sequence during the wagon flow that the low wagon flow of priority is can not preempting priority high green and adjust when green along with the decline of wagon flow priority.Concrete phase place phase sequence method of adjustment will be introduced below.
Phase sequence and to adjust when green be respectively the crossing of crossing, downstream, crossing, upstream and congested therebetween wagon flow process to be carried out respectively, when calculating, to determine that at first the maximum of crossing, downstream is current when green, have only determined maximum when green, just can know the maximum vehicle number that in this time window, can evacuate, the crossing, upstream could be formulated corresponding coordination strategy and be reached green ripple evacuation, the purpose of mean allocation highway section vehicle.For the crossing, downstream, big more during congested wagon flow direction green, the vehicle that means more these congested wagon flows of can letting pass, but be limited during green in time window is in the time of just must depriving other phase place green when wanting to increase congested wagon flow direction green.The timing scheme has been formulated according to the congested wagon flow priority that phase place comprises in the crossing, downstream, but this timing scheme is the scheme of coordinating of not passing through, in order to coordinate to evacuate more congested wagon flow, so when coordinating control, when allowing the crossing, downstream to comprise current needs to coordinate to control the phase place of wagon flow and deprive the phase place lower green than its priority.Principle when the phase place that participate in to coordinate evacuate the crossing, downstream is seized other phase place green has two: the firstth, and the overall priority of the phase place of being seized must be lower than this phase place; The secondth, can not comprise the high wagon flow of wagon flow priority of coordinating evacuation than needs in the phase place of being seized.Have only the phase place that satisfies above 2 principles just can be seized when green by the current phase place that comprises the wagon flow that needs coordinate to evacuate.This process can be represented by Figure 13.If the priority of phase place A is lower than B or C among the figure, perhaps comprise the high wagon flow of wagon flow priority that the current needs that comprise than phase place A are coordinated evacuation among phase place B or the C, then phase place is not done any adjustment.In the time of can obtaining the crossing, downstream and can offer current maximum green of the current wagon flow of need coordinating according to this method.
The crossing, downstream is maximum to comprise that two parts, first are the original distribution in crossing when green when green, is based on the phase sequence of priority when this part is green and optimizes when green and to obtain, and can guarantee to evacuate the congested vehicle in this highway section; Second portion is when grabbing low priority phase place green, to be used to evacuate each crossing, upstream is discharged into the downstream by green ripple the remaining queuing vehicle of vehicle and this highway section when this part is green.Evacuate the purpose of congested wagon flow in order to reach even distribution vehicle and coordination, also will know the total volume and the highway section residual capacity in each highway section.The computing formula of highway section total volume as shown in Equation (16).
SC wherein
iBe the total volume of highway section i, m is the canalization number of track-lines, and n is non-canalization number of track-lines, and h is a saturation headway, and VL is average vehicle length, l
iBe canalization track length, L
iBe common track length.The residual capacity computing formula in highway section as shown in Equation (17).
LSC
i＝SC
i-NQ
i (17)
LSC wherein
iBe highway section residual capacity, NQ
iBe the existing vehicle number in highway section.If the congested saturation degree standard value in highway section is R, promptly the vehicle number in the highway section is greater than R and SC
iProduct the time, expression highway section vehicle is too much, will take place congested.Therefore Regional Synergetic control must guarantee each highway section vehicle number in saturated standard once, so should use actual effective highway section residual capacity ALSC when controlling
i, its computing formula as shown in Equation (18).
ALSC
i＝SC
i×R-NQ
i (18)
To participate in collaborative phase place maximum when green from beginning from nearest crossing, crossing, downstream successively to recomputate one by one to the crossing of congested wagon flow upstream.Computing method as shown in Equation (19).
G wherein
iTo comprise the phase place of congested wagon flow maximum when green for the crossing i that participate in to coordinate control, G
DownBe crossing, downstream when green, G
OwnWhen letting pass shared green of this highway section queuing vehicle for the crossing, downstream, ALSC
I-1Be effective highway section, downstream residual capacity, n is the highway section number of track-lines, thereby supposes that here vehicle that crossing, upstream i lets pass enters highway section, crossing, downstream and can seek the short highway section of queuing automatically and form uniform queuing situation.H is a saturation headway.
Represent that effective highway section residual capacity can provide green the time guarantee, but ALSC
I-1This highway section may be 0 even negative, because may can't provide effective space, so work as ALSC more more than congested standard
I-1This part provides when negative when green is 0.Can make progress from the crossing, downstream according to formula (19) and to calculate all crossings of coordinate evacuating congested wagon flow successively when participating in coordinating control phases maximum green.Maximum good phase place timing scheme is adjusted to giving priority when green according to this then.Method of adjustment is still followed the two principle that the crossing, downstream is adjusted when green, supply during the low phase place of green time time preempting priority green when former distribution is green less than maximum, but with the difference of crossing, downstream be maximum supplies to maximum when green till.
Claims (5)
1. control method is preferentially evacuated in a traffic congestion, it is characterized in that: described traffic congestion evacuation method may further comprise the steps:
Step 1, gather traffic congestion data in real time:, gather average occupancy relative mistake, average occupancy absolute difference, track queue length, track and turn to the rate data at the geomagnetic sensor that each track upstream and downstream is settled; Whether average occupancy that utilization obtains and queue length data according to the standard determination of congested generation traffic congestion take place, if traffic congestion does not take place, continue to adopt existing control method, if traffic congestion takes place, forward step 2 to;
Step 2, congested wagon flow relationship analysis: according to the queue length in each highway section with turn to rate to calculate to stride the congested wagon flow in highway section, utilize the resource between congested wagon flow of wagon flow phase relation Model Calculation and the crossing to wait for relation, the transitive dependency that utilizes wagon flow to wait for that relational model calculates between the congested wagon flow relies on the influence relation with circulation; Forward step 3 to;
Step 3, congested wagon flow are evacuated priority and judged: influence relationship analysis according to the transitive dependency between the congested wagon flow with the circulation dependence and go out congested evacuation priority factor of influence: transitive dependency wagon flow quantity, circulation rely on ring length, circulation relies on the number of rings amount; Then congested evacuation factor of influence and average occupancy absolute difference, average occupancy relative mistake, the total queue length of wagon flow are united as input, congested evacuation priority is the immediate evacuation rank, urgently evacuates rank, important evacuation rank and common evacuation rank as output, utilize the final decision of BP neural network to go out the evacuation priority of the congested wagon flow of each bar; Forward step 4 to;
Step 4, congested evacuation control signal timing are optimized: the optimization of congested evacuation control signal timing was finished in the window a computing time, when a time window end will be from recomputating; The size of the priority weights sum of the congested wagon flow that is comprised according to each candidate's phase place is arranged the phase sequence of phase place; According to the order of phase sequence, calculate according to the average queue length of the congested wagon flow of each phase place and to intend letting pass duration when green, and join among the time window; Begin successively the congested wagon flow that comprises in the time window to be coordinated control from the highest wagon flow of priority according to the regional coordination of congested wagon flow relation, adjust phase sequence and the when green duration of each phase place in time window.
2. the method for control is preferentially evacuated in a kind of traffic congestion according to claim 1, it is characterized in that: it is as follows that the congested car flow information of traffic network is set up wagon flow phase analysis model algorithm:
1) initial wagon flow phase analysis model is provided with the crossing set and is M[n], n is a crossing quantity; Congested wagon flow set L[k is set], k is congested wagon flow quantity;
2) for each element M [i] in the crossing set, according to crossing phase place timing scheme to set M[i] in interpolation phase place timing node I[m], m value 1-4 represents different timing schemes;
3) at same crossing set M[i] in set up the mutual exclusion limit, each the timing scheme node that matches that is about in the set links to each other with the mutual exclusion limit, the node that links to each other with the mutual exclusion limit can not be passed through simultaneously, as long as promptly there is a timing scheme node to be passed through, other node identification is invalid, up to switching to next controlling schemes;
4) for each the element L[i among the congested wagon flow set L] investigate, increase enters the limit and flows out the limit on the crossing phase place timing scheme node that it passes through, and increase flows into the limit on the crossing timing scheme node that its wait request is passed through.
3. the method for control is preferentially evacuated in a kind of traffic congestion according to claim 1, it is characterized in that: congested wagon flow resource waits for that the relational model construction algorithm is as follows:
1) the congested wagon flow resource of initialization is waited for relational model, the crossing set is set is I[n], n is a crossing quantity; Congested wagon flow set L[k is set], k is congested wagon flow quantity;
2) each crossing set M[i in the traversal wagon flow phase model], carry out:
Each of 1. searching in the set has the phase place timing summit of fillet;
If 2. existing inflow limit has the limit of outflow and this two limits to belong to same wagon flow again in the summit, then wait for increasing the directed edge that points to this wagon flow node from this intersection node in the relational model in congested wagon flow;
Do not flow out the limit if 3. have only the limit of inflow in the summit, then wait for increasing the directed edge that points to this intersection node from this wagon flow node in the relational model in congested wagon flow.
4. the method for control is preferentially evacuated in a kind of traffic congestion according to claim 1, it is characterized in that: the wagon flow transitive dependency is as follows with the detection algorithm that circulation relies on:
1) for each the bar wagon flow i among the road network resources relationship wait figure, carry out depth-first search, if search wagon flow i once more, then wagon flow i deadlock number of rings of living in amount+1 is write down the deadlock ring length, otherwise is jumped to step 2);
2) carry out reverse deep search for each the bar wagon flow i among the road network resources relationship wait figure, write down the wagon flow state that each lives through, and wagon flow transitive dependency quantity+1; Jump to step 3);
3) every wagon flow i deadlock number of rings of living in amount of statistics, deadlock ring total length of living in, transitive dependency wagon flow quantity.
5. the method for control is preferentially evacuated in a kind of traffic congestion according to claim 1, it is characterized in that: it is as follows to evacuate the priority decision method based on the congested wagon flow of BP neural network:
1) use the sample of congested evacuation factor of influence and decision level that the BP neural network is trained;
2) obtain wagon flow average occupancy absolute difference, vehicle average occupancy absolute difference, wagon flow deadlock number of rings of living in amount, wagon flow deadlock ring of living in size, these congested evacuation rank factors of influence of transitive dependency wagon flow quantity according to specified message acquisition time interval t;
3) be input to factor of influence in the BP neural network that has trained as input parameter;
4) judgement of BP neural network output result is exactly the evacuation priority level of this congested wagon flow, the congested evacuation priority level of this wagon flow is offered traffic congestion evacuate control system;
5) make t=t+1, step 2 is returned in redirect).
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