CN102360532B - Crossing traffic signal control system and control method thereof - Google Patents
Crossing traffic signal control system and control method thereof Download PDFInfo
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- CN102360532B CN102360532B CN201110318114.7A CN201110318114A CN102360532B CN 102360532 B CN102360532 B CN 102360532B CN 201110318114 A CN201110318114 A CN 201110318114A CN 102360532 B CN102360532 B CN 102360532B
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Abstract
The invention relates to a crossing traffic signal control system which comprises a vehicle flow rate statistic analysis module, a traffic control preemption decision module and a crossing signal lamp module which are connected sequentially. The invention also relates to a crossing traffic signal control method utilizing the system. According to the control method, based on a clock phase, the traffic control preemption decision module controls the crossing signal lamp module, when phase execution is finished, if the traffic control preemption decision module determines that a phase green light time of a phase is longer than a preset phase time, the phase is executed first to realize preempt control based on the clock phase, then the clock phase is executed according to a preset sequence, thus a phase of a high vehicle flow rate is released preferentially, city traffic pressure is effectively alleviated, and a traffic pass efficiency of a city is raised. The system and the method in the invention have the advantages of a simple system structure, low cost of method realization, and a wide application range.
Description
Technical field
The present invention relates to automatic control technology field, particularly traffic signals automatic control technology field, specifically refers to a kind of crossing traffic signal control system and control method thereof.
Background technology
Along with development and the social progress of yield-power, the problems such as traffic jam, traffic hazard and traffic environment pollution have become the focus of people's common concern, and these type of traffic problems are more outstanding in city.At present, many countries and local government are all being devoted to find the effective scheme addressing this problem.Therefore,, on the basis of existing traffic intelligent transportation system (Intelligent Transport System, ITS), need to explore the solution of urban transport problems.
In recent years, people are obtaining plentiful and substantial theoretical result aspect the research of intelligent transportation system, and part achievement has been applied in actual traffic control system, realize traffic intelligent optimal control under certain condition.For example, widely used two system: TRANSYT and SCOOT system have all adopted statistical mathematics model method and classical mathematics algorithm at present.Yet Traffic Systems, except having the characteristic such as complicacy, randomness of ordinary traffic system, also has some self-characteristic, as stronger sudden etc.Therefore, be applicable to ordinary road traffic control system unalterable be applied in city, control effect unsatisfactory, have and further carry out improved space.So be necessary urban transport problems to do darker research and exploration, propose the solution of new urban transport problems.
Summary of the invention
The object of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of on the basis of computing machine interruption thought, current situation of traffic in conjunction with city, gather the vehicle flowrate of traffic intersection and carry out statistical study, by means of the mathematical model of seizing control based on clock phase, be optimized calculating, realization is controlled the Vehicular intelligent of traffic intersection, thereby effectively alleviate urban traffic pressure, improve the traffic traffic efficiency in city, and system architecture is comparatively simple, realize with low costly, range of application is crossing traffic signal control system and control method thereof comparatively widely.
In order to realize above-mentioned object, crossing traffic signal control system of the present invention has following formation:
This system comprises that vehicle flowrate analysis module, traffic control seize decision-making module and belisha beacon module, the output terminal of described vehicle flowrate analysis module connects the input end that decision-making module is seized in described traffic control, and the output terminal that decision-making module is seized in described traffic control connects the input end of described belisha beacon module.
In this crossing traffic signal control system, described vehicle flowrate analysis module comprises data processing unit, vehicle data collection unit and road junction data enactment unit, described vehicle data collection unit is all connected described data processing unit with road junction data enactment unit, and described data processing unit also connects described traffic control and seizes decision-making module.
In this crossing traffic signal control system, described vehicle data collection unit comprises pressure transducer and the ultrasonic sensor that is arranged at each track, described road junction, and described pressure transducer is all connected described data processing unit with ultrasonic sensor.
In this crossing traffic signal control system, described road junction data enactment unit comprises that number of track-lines is set subelement, lane design form sets subelement and lane width is set subelement, and described number of track-lines is set subelement, lane design form setting subelement is set subelement with lane width and is all connected described data processing unit.
In this crossing traffic signal control system, described system also comprises the optimization analysis module of traffic control, and the optimization analysis module of described traffic control connects described vehicle flowrate analysis module.
The present invention also provides a kind of system based on described to realize the method for crossing traffic signal controlling, the belisha beacon module described in the default clock phase sequential control of decision-making module foundation one is seized in described traffic control, described clock phase comprises at least three phase places, each described phase sequence circulation is carried out, each phase place all has default phase time upper and lower bound, and described method comprises the following steps:
(1) the vehicle flowrate data in described each track, vehicle flowrate analysis module Real-time Collection road junction, and decision-making module is seized in the traffic control described in being sent to;
(2), when current phase place is carried out end, described traffic control is seized decision-making module and according to the vehicle flowrate data in described each track, road junction, is determined the phase place green time of each described phase place;
(3) described traffic control is seized decision-making module according to described default clock phase order, judges whether next phase place is " being preempted phase place ", if so, enters step (8), if not, enters step (4);
(4) whether decision-making module judgement is seized in described traffic control has phase place green time to surpass the phase place of described preset phase time upper limit in each phase place, if having, enters step (5), if do not have, enters step (8);
(5) it is " seizing phase place " by the phase place green time phase settings maximum over the default phase time upper limit that decision-making module is seized in the traffic control described in, and is " being preempted phase place " by the next phase settings in described phase sequence;
(6) described traffic control is seized decision-making module and is controlled described described " seizing phase place " of belisha beacon module execution, then enters step (7);
(7) described traffic control is seized decision-making module and is returned to described " being preempted phase place ", and will be somebody's turn to do the current phase place that " being preempted phase place " completes as executed, then returns to step (2);
(8) described traffic control is seized decision-making module and is controlled the next phase place in the described phase sequence of described belisha beacon module execution, then returns to step (2).
In the method for this crossing traffic signal controlling, the in the situation that of right-angled intersection, the first phase place that described clock phase comprises, the second phase place, third phase position and the 4th phase place, the first described phase place is craspedodrome and the right-hand rotation green light signals phase place of a road in described right-angled intersection, the second phase place is the left-hand rotation green light signals phase place of the road identical with the first phase place, third phase position is craspedodrome and the right-hand rotation green light signals phase place of another road in described right-angled intersection, the 4th phase place is the left-hand rotation green light signals phase place of the road identical with third phase position, the first described phase place, the second phase place, third phase position and the 4th phase place are carried out by default phase sequence circulation.
In the method for this crossing traffic signal controlling, described vehicle flowrate analysis module comprises data processing unit, vehicle data collection unit and road junction data enactment unit, described vehicle data collection unit is all connected described data processing unit with road junction data enactment unit, described data processing unit also connects described traffic control and seizes decision-making module, and described step (1) specifically comprises the following steps:
(11) the track vehicle number in described each track, Real-time Collection road junction, vehicle data collection unit;
(12) described vehicle data collection unit is sent to described data processing unit by the track vehicle number in each track, road junction;
(13) described data processing unit reads described road junction data parameters from described road junction data enactment unit;
(14) described data processing unit is determined the phase place vehicle number of each phase place according to the track vehicle number in each described track and described road junction data parameters;
(15) described data processing unit is sent to described traffic control by the phase place vehicle number of each described phase place and seizes decision-making module.
In the method for this crossing traffic signal controlling, described step (11) specifically refers to: compact car, in-between car and the large car in described each track, Real-time Collection road junction, vehicle data collection unit pass through quantity, and shared ratiometric conversion is that the vehicle flowrate of standard minibus is as track vehicle number according to each vehicle.
In the method for this crossing traffic signal controlling, described vehicle data collection unit comprises pressure transducer and the ultrasonic sensor that is arranged at each track, described road junction, described pressure transducer is all connected described data processing unit with ultrasonic sensor, when described data processing unit passes through according to different automobile types, pressure transducer senses that this vehicle of Distance Judgment between vehicle front and back wheel is compact car, in-between car or large car.
In the method for this crossing traffic signal controlling, described track vehicle number Q meets following formula:
Q=E
1P
1+E
2P
2+E
3P
3
Wherein, Q is the vehicle flowrate of standard minibus, E
1for the conversion factor of compact car vehicle, E
2for the conversion factor of in-between car vehicle, E
3for the conversion factor of large car vehicle, P
1for compact car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
2for in-between car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
3for large car vehicle flowrate accounts for the number percent of total vehicle flowrate.
In the method for this crossing traffic signal controlling, described road junction data enactment unit comprises that number of track-lines is set subelement, lane design form sets subelement and lane width is set subelement, described number of track-lines is set subelement, lane design form is set subelement and is all connected described data processing unit with lane width setting subelement, and described road junction data parameters comprises number of track-lines, lane design form and lane width.
In the method for this crossing traffic signal controlling, described step (14) is specially: the phase place vehicle number using the value that in corresponding each track of this phase place, track vehicle number is maximum as this phase place.
In the method for this crossing traffic signal controlling, the phase place green time in described step (2) meets following formula:
T
i=(Q
i+Q
i')
*v+t
0
Wherein, T
ibe the phase place green time length of i phase place, Q
ibe the first of the i phase place vehicle number in the time interval, Q
i' be the second portion of the i phase place vehicle number in the time interval, the travel speed that v is vehicle, t
0for vehicle is by the running time of traffic intersection.
In the method for this crossing traffic signal controlling, described first refers to that this phase place finishes from a front green light time period that starts to light to current green light the time interval, and the vehicle number of described second portion in the time interval refers to the vehicle number arriving when all vehicles in the time interval are completely by traffic intersection in described first.
In the method for this crossing traffic signal controlling, described step (6) specifically comprises the following steps:
(61) described traffic control is seized decision-making module using the preset phase time upper limit of described " seizing phase place " as actual phase green time;
(62) described traffic control is seized decision-making module and is seized phase place according to the described belisha beacon module execution of described actual phase green time control, then enters step (7).
In the method for this crossing traffic signal controlling, described step (8) specifically comprises the following steps:
(81) described traffic control is seized decision-making module according to the actual phase green time T of the next phase place in the definite described phase sequence of following formula
i'
In formula: T
ifor phase place green time, t
lfor the lower threshold of default phase time, t
uupper limit threshold for default phase time;
(82) described traffic control is seized decision-making module according to the actual phase green time T of the next phase place in described phase sequence
i' control described belisha beacon module to carry out next phase place, then return to step (2).
In the method for this crossing traffic signal controlling, described crossing traffic signal control system also comprises the optimization analysis module of traffic control, the optimization analysis module of described traffic control connects described vehicle flowrate analysis module, described method also comprises traffic control optimization analysis operation, and described traffic control is optimized analysis operation and comprised Optimum Operation, the Optimum Operation based on road passage capability and the Optimum Operation based on vehicle mean delay based on saturation flow amount data.
In the method for this crossing traffic signal controlling, described saturation flow amount S is:
S=196W
2-976W+1964；
In formula: W is lane width.
In the method for this crossing traffic signal controlling, described vehicle mean delay meets following formula in the situation that vehicle flowrate saturation degree S is lower:
In formula: the mean delay that d is each car; C is Cycle Length; Q is vehicle arrival rate; X is saturation degree, x=q/s; λ is effective split of phase place, λ=T/c; T is the effective green time of phase place,
The in the situation that of when vehicle saturation degree S is higher, meet following formula:
In formula: x is saturation degree, x=q/s; Z=120/ (vT), wherein, v is the magnitude of traffic flow, the time span of T for investigating.
In the method for this crossing traffic signal controlling, described road passage capability C
rfor:
C
r=C
d×f
HV×f
d×f
w×f
f
In formula: C
dfor the design capacity corresponding with actual travel speed; f
hVfor traffic forms correction factor, f
dfor direction distribution correction factor, f
wfor track, shoulder width correction factor, f
ffor trackside disturbs correction factor.
In the method for this crossing traffic signal controlling, described traffic forms correction factor f
hVmeet following formula:
f
HV=1/[1+ΣP
i(E
i-1)]
In formula: P
ifor vehicle proportion, E
ifor vehicle conversion factor.
Adopted traffic signal control system and the control method of this invention, its system comprises that the vehicle flowrate analysis module, the traffic control that are linked in sequence seize decision-making module and belisha beacon module.Utilizing this system to carry out in traffic signal control method, traffic control is seized decision-making module and based on clock phase, signal lamp module is controlled.When a phase place is carried out end, if traffic control is seized the phase place green time that decision-making module determines a certain phase place and is longer than default phase time, first carry out this phase place, the seize control of realization based on clock phase, and then carry out clock phase according to preset order, thereby can the high phase place of prior-release vehicle flowrate, effectively effect is alleviated urban traffic pressure, improve the traffic traffic efficiency in city, and traffic signal control system of the present invention and control method, its system architecture is comparatively simple, and method realizes with low cost, and range of application is comparatively extensive.
Accompanying drawing explanation
Fig. 1 is the structural representation of crossing traffic signal control system of the present invention.
Fig. 2 is the flow chart of steps of crossing traffic signal control method of the present invention.
Fig. 3 is the cross traffic intersection simplified model of quadrature schematic diagram.
Fig. 4 is the vehicle Flow Detection module interface schematic diagram in crossing traffic signal control system of the present invention.
Fig. 5 is crossing traffic signal control method of the present invention control flow schematic diagram in actual applications.
Fig. 6 utilizes method of the present invention to control vehicle by the streamline time distribution schematic diagram of traffic intersection.
Embodiment
In order more clearly to understand technology contents of the present invention, especially exemplified by following examples, describe in detail.
Referring to shown in Fig. 1, is the structural representation of crossing traffic signal control system of the present invention.
In one embodiment, this crossing traffic signal control system comprises that vehicle flowrate analysis module, traffic control seize decision-making module and belisha beacon module, the output terminal of described vehicle flowrate analysis module connects the input end that decision-making module is seized in described traffic control, and the output terminal that decision-making module is seized in described traffic control connects the input end of described belisha beacon module.
In the system of utilizing this embodiment, realize in the method for crossing traffic signal controlling, the belisha beacon module described in the default clock phase sequential control of decision-making module foundation one is seized in described traffic control, described clock phase comprises at least three phase places, each described phase sequence circulation is carried out, each phase place all has default phase time upper and lower bound, described method, as shown in Figure 2, comprises the following steps:
(1) the vehicle flowrate data in described each track, vehicle flowrate analysis module Real-time Collection road junction, and decision-making module is seized in the traffic control described in being sent to;
(2), when current phase place is carried out end, described traffic control is seized decision-making module and according to the vehicle flowrate data in described each track, road junction, is determined the phase place green time of each described phase place;
(3) described traffic control is seized decision-making module according to described default clock phase order, judges whether next phase place is " being preempted phase place ", if so, enters step (8), if not, enters step (4);
(4) whether decision-making module judgement is seized in described traffic control has phase place green time to surpass the phase place of described preset phase time upper limit in each phase place, if having, enters step (5), if do not have, enters step (8);
(5) it is " seizing phase place " by the phase place green time phase settings maximum over the default phase time upper limit that decision-making module is seized in the traffic control described in, and is " being preempted phase place " by the next phase settings in described phase sequence;
(6) described traffic control is seized decision-making module and is controlled described described " seizing phase place " of belisha beacon module execution, then enters step (7);
(7) described traffic control is seized decision-making module and is returned to described " being preempted phase place ", and will be somebody's turn to do the current phase place that " being preempted phase place " completes as executed, then returns to step (2);
(8) described traffic control is seized decision-making module and is controlled the next phase place in the described phase sequence of described belisha beacon module execution, then returns to step (2).
In being applied to the embodiment of right-angled intersection, the first phase place that described clock phase comprises, the second phase place, third phase position and the 4th phase place, the first described phase place is craspedodrome and the right-hand rotation green light signals phase place of a road in described right-angled intersection, the second phase place is the left-hand rotation green light signals phase place of the road identical with the first phase place, third phase position is craspedodrome and the right-hand rotation green light signals phase place of another road in described right-angled intersection, the 4th phase place is the left-hand rotation green light signals phase place of the road identical with third phase position, the first described phase place, the second phase place, third phase position and the 4th phase place are carried out by default phase sequence circulation.
In a kind of more preferably embodiment, described vehicle flowrate analysis module comprises data processing unit, vehicle data collection unit and road junction data enactment unit, described vehicle data collection unit is all connected described data processing unit with road junction data enactment unit, and described data processing unit also connects described traffic control and seizes decision-making module.
In the system of utilizing this embodiment, realize in the method for crossing traffic signal controlling, described step (1) specifically comprises the following steps:
(11) the track vehicle number in described each track, Real-time Collection road junction, vehicle data collection unit;
(12) described vehicle data collection unit is sent to described data processing unit by the track vehicle number in each track, road junction;
(13) described data processing unit reads described road junction data parameters from described road junction data enactment unit;
(14) described data processing unit is determined the phase place vehicle number of each phase place according to the track vehicle number in each described track and described road junction data parameters;
(15) described data processing unit is sent to described traffic control by the phase place vehicle number of each described phase place and seizes decision-making module.
Wherein, described step (11) specifically refers to: compact car, in-between car and the large car in described each track, Real-time Collection road junction, vehicle data collection unit pass through quantity, and shared ratiometric conversion is that the vehicle flowrate of standard minibus is as track vehicle number according to each vehicle.
In further preferred embodiment, described vehicle data collection unit comprises pressure transducer and the ultrasonic sensor that is arranged at each track, described road junction, and described pressure transducer is all connected described data processing unit with ultrasonic sensor.When described data processing unit passes through according to different automobile types, pressure transducer senses that this vehicle of Distance Judgment between vehicle front and back wheel is compact car, in-between car or large car.Described road junction data enactment unit comprises that number of track-lines is set subelement, lane design form sets subelement and lane width is set subelement, and described number of track-lines is set subelement, lane design form setting subelement is set subelement with lane width and is all connected described data processing unit.Described road junction data parameters comprises number of track-lines, lane design form and lane width.
In the system of utilizing this embodiment, realize in the method for crossing traffic signal controlling, described track vehicle number Q meets following formula:
Q=E
1P
1+E
2P
2+E
3P
3
Wherein, Q is the vehicle flowrate of standard minibus, E
1for the conversion factor of compact car vehicle, E
2for the conversion factor of in-between car vehicle, E
3for the conversion factor of large car vehicle, P
1for compact car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
2for in-between car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
3for large car vehicle flowrate accounts for the number percent of total vehicle flowrate.
Described step (14) is specially: the phase place vehicle number using the value that in corresponding each track of this phase place, track vehicle number is maximum as this phase place.
Phase place green time in described step (2) meets following formula:
T
i=(Q
i+Q
i')
*v+t
0
Wherein, T
ibe the phase place green time length of i phase place, Q
ibe the first of the i phase place vehicle number in the time interval, Q
i' be the second portion of the i phase place vehicle number in the time interval, the travel speed that v is vehicle, t
0for vehicle is by the running time of traffic intersection.Wherein, described first refers to that this phase place finishes from a front green light time period that starts to light to current green light the time interval, and the vehicle number of described second portion in the time interval refers to the vehicle number arriving when all vehicles in the time interval are completely by traffic intersection in described first.
Described step (6) specifically comprises the following steps:
(61) described traffic control is seized decision-making module using the preset phase time upper limit of described " seizing phase place " as actual phase green time;
(62) described traffic control is seized decision-making module and is seized phase place according to the described belisha beacon module execution of described actual phase green time control, then enters step (7).
Described step (8) specifically comprises the following steps:
(81) described traffic control is seized decision-making module according to the actual phase green time T of the next phase place in the definite described phase sequence of following formula
i'
In formula: T
ifor phase place green time, t
lfor the lower threshold of default phase time, t
uupper limit threshold for default phase time;
(82) described traffic control is seized decision-making module according to the actual phase green time T of the next phase place in described phase sequence
i' control described belisha beacon module to carry out next phase place, then return to step (2).
In preferred embodiment, described system also comprises the optimization analysis module of traffic control, and the optimization analysis module of described traffic control connects described vehicle flowrate analysis module.
In the system of utilizing this embodiment, realize in the method for crossing traffic signal controlling, described method also comprises traffic control optimization analysis operation, and described traffic control is optimized analysis operation and comprised Optimum Operation, the Optimum Operation based on road passage capability and the Optimum Operation based on vehicle mean delay based on saturation flow amount data.
Wherein, described saturation flow amount S is:
S=196W
2-976W+1964；
In formula: W is lane width.
Described vehicle mean delay meets following formula in the situation that vehicle flowrate saturation degree S is lower:
In formula: the mean delay that d is each car; C is Cycle Length; Q is vehicle arrival rate; X is saturation degree, x=q/s; λ is effective split of phase place, λ=T/c; T is the effective green time of phase place,
And meet following formula when vehicle saturation degree S is higher in the situation that:
In formula: x is saturation degree, x=q/s; Z=120/ (vT), wherein, v is the magnitude of traffic flow, the time span of T for investigating.
Described road passage capability C
rfor:
C
r=C
d×f
HV×f
d×f
w×f
f
In formula: C
dfor the design capacity corresponding with actual travel speed; f
hVfor traffic forms correction factor, f
dfor direction distribution correction factor, f
wfor track, shoulder width correction factor, f
ffor trackside disturbs correction factor.Wherein, described traffic forms correction factor f
hVmeet following formula:
f
HV=1/[é1+ΣP
i(E
i-1)]
In formula: P
ifor vehicle proportion, E
ifor vehicle conversion factor.
In actual applications, system of the present invention is seized the optimization analysis module of decision-making module and traffic control by vehicle flowrate and analysis module, traffic control, and totally three separate modules cooperate and realize the Based Intelligent Control to traffic intersection.
Quadrature cross junction is the traffic intersection of the representative and typicalness in city, by analyzing this typical case's traffic intersection feature, can set up quadrature cross traffic road junction roadway distribution simplified model as shown in Figure 3.In the model of traffic intersection, be provided with 12 import tracks and 12 exit lanes, the control method of seizing based on clock phase is according to the lane flow amount of each traffic intersection, to carry out the real-time optimization configuration of traffic signals, to simplify the analysis, the present invention only analyzes 12 import tracks.Traffic intersection model has the import track of four direction, and the import track of each direction includes three tracks, is respectively the all-purpose road of craspedodrome road, left changing lane and right-hand rotation and craspedodrome.According to vehicle heading and relevant traffic law rules, 12 tracks of traffic intersection are numbered respectively and are divided in four different phase places: (1) first phase place consists of track 1,2,9,10, (2) second phase places consist of track 5,6, (3) third phase position consists of track 3,4,11,12, and (4) the 4th phase places consist of track 7,8.
Utilize the method collection that automatic instrumentation is added up and complicate statistics analysis combines and analyze vehicle flowrate.The geometric parameter and the traffic parameter that about the investigated index of traffic intersection, mainly comprise traffic, wherein, geometric parameter comprises again the number of track-lines of traffic entrance, lane design form, lane width etc.; Traffic parameter comprises the vehicle flowrate on traffic intersection all directions track, type of vehicle composition and ratio etc.
Automatically instrumentation statistics mainly gathers road vehicle number and two quantitative indexes of type of vehicle, after traffic flow acquisition completes, system can automatically arrange the carrying out that collects vehicle flowrate data and analyze, then be input in the processor of traffic control system, processor calculates vehicle arrival rate, the parameters such as the composition of type of vehicle and ratio according to vehicle flowrate.The mode of data acquisition is the mode that pressure transducer combines with ultrasonic sensor and gathers, main real-time vehicle number and the type of vehicle that gathers track, for the timing of traffic intersection signal optimizing provides Data support, and type of vehicle is to judge by the mistiming length of pressure transducer by the front and back wheel of vehicle.Vehicle flowrate automatic detection module is connected with microprocessor by the standard interface of definition, and detection module interface schematic diagram as shown in Figure 4.
The analysis of vehicle flowrate complicate statistics is that all kinds of traffic parameters are analyzed, and for configuring all kinds of traffic control parameters, provides decision-making foundation.The data target of complicate statistics analysis comprise between vehicle number, type of vehicle, road speed, different vehicle with spacing, road passage capability, vehicle delay etc., by computational analysis, try to achieve and direct relevant each traffic control parameter of traffic control such as the ratio of all kinds of vehicles and car amount conversion factor thereof etc.
In the phase place of traffic signals, seize in the process of control, take vehicle flowrate data as basis, the control system of traffic intersection adopts the control method of seizing based on clock phase, supports single-stage to seize, and does not support multinest to seize.Specifically, when a phase place green time finishes, traffic intersection can calculate the green time of each phase place according to the vehicle flowrate gathering, and then determines whether and meet preemptive condition according to the phase place green time of trying to achieve.If judgment result is that and meet preemptive condition, system is seized operation by carrying out corresponding phase place; If judged result does not meet preemptive condition, system is carried out order the green time of next phase place.Seizing Rule of judgment comprises: 1. judge whether current phase place was preempted; 2. judge whether phase place green time is greater than the default phase place green time upper limit.As shown in Figure 5, for traffic intersection, seize the flowchart of control system, the concrete steps of seizing control method based on clock phase are as follows:
Step 1: current phase place green time finishes, according to the phase place green time of four phase places of vehicle flowrate calculating;
Step 2: whether next phase place that judgement will be carried out was preempted, if be preempted, abandon current phase place and seizes, otherwise perform step 3;
Step 3: judge whether to exist green time to be greater than the phase place of the preset phase green time upper limit, if there is no, order is carried out next phase place green time, otherwise performs step 4;
Step 4: preserve the phase place being preempted, carry out the green time of seizing phase place, return and be preempted phase place, the rotation of continuation order excute phase.
The target that intelligent transportation is controlled is to alleviate various traffic pressures, improves the traffic efficiency of traffic control.It is vehicle mean delay and road passage capability that the typical case that the point control pattern of take is controlled as basic traffic intersection controls index.Verify that the superiority of seizing control method and high efficiency based on clock phase will be by comparing with other traffic control method.On same or analogous traffic infrastructure basis, by calculating the road passage capability function of vehicle mean delay function and traffic intersection, realize the comparison of above-mentioned target.
In the application process of this system, the particular content of each module is as follows:
One, vehicle flowrate and analysis module
Utilize the method collection that automatic instrumentation is added up and complicate statistics analysis combines and analyze vehicle flowrate.The data of complicate statistics analysis are mainly whole geometric parameters of traffic intersection and the traffic parameter of part, mainly comprise the number of track-lines of traffic entrance, lane design form, lane width, automobile body length etc.Automatically instrumentation statistic law will be calculated the vehicle flowrate in each track of traffic intersection, the ratio of all kinds vehicle in total vehicle, and road traffic is converted to phase place vehicle flowrate etc.
Track vehicle number is the principal element that determines signal time distributing conception, and the basic time unit of traffic intersection signal controlling is phase time section, therefore lane flow amount need to be converted into phase place vehicle flowrate.For the bus capacity that makes traffic intersection is as far as possible large and average vehicle delay is as far as possible little as far as possible, phase place vehicle number is defined as the maximal value of the vehicle number in all tracks in this phase place, and the formula of mathematical of correspondence is:
In formula: Q
ifor phase place vehicle number (), i gets 1,2,3,4; Qj track vehicle number, j gets 1,2 ..., 11,12.
Urban transportation is main mainly with sedan, city bus and sightseeing bus, also can have a small amount of lorry, motorcycle etc. simultaneously.The physical dimension of all kinds vehicle has very big difference, according to the vehicle commander of vehicle, is divided into compact car, in-between car and large car three types: (1) compact car vehicle commander is not more than 6m, comprises sedan, taxi, motorcycle etc.; (2) in-between car vehicle commander, between 6m and 10m, comprises middle bus, medium-sized touring car etc.; (3) large car vehicle commander is greater than 10m, comprises motor bus, truck etc.Because all kinds vehicle travels to taking of road on road, be different.Therefore,, when statistical vehicle flowrate, all kinds vehicle unification that investigation obtains is converted into standard car number to facilitate statistics and research.In conjunction with the actual traffic situation in HCM and Tai'an, the known factor to vehicle flowrate data statistics generation major effect is vehicle commander and various types of vehicles proportion.So will consider above-mentioned two factors when calculating " standard minibus unit " (PCU:Passenger Car Unit), corresponding formula of mathematical is:
Q＝E
1P
1+E
2P
2+E
3P
3 （2）
In formula: Q is the vehicle flowrate (pcu/h/ln) of standard minibus, E
1-be the conversion factor (pcu/h/ln) of compact car vehicle, E
2for the conversion factor (pcu/h/ln) of in-between car vehicle, E
3for the conversion factor (pcu/h/ln) of large car vehicle, P
1for compact car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
2for in-between car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
3for large car vehicle flowrate accounts for the number percent of total vehicle flowrate.
Two, decision-making module is seized in traffic control
Interrupt control thought and be widely used in computer operating system, and realize well the target of the resource utilization that improves computer system.Now interruption control thought is applied in road traffic control system, in the phase place of traffic, seize in the process of control, take vehicle flowrate data as basis, traffic control system adopts the control method of seizing based on clock phase, support single-stage is seized, and does not support multinest to seize.Specifically, when a phase place green time finishes, traffic intersection can calculate the green time of each phase place according to the lane flow amount gathering, and then determines whether and meet preemptive condition according to the phase place green time of trying to achieve.If judgment result is that and meet preemptive condition, system is seized operation by carrying out corresponding phase place; If judged result does not meet preemptive condition, system is carried out order the green time of next phase place.
1, the calculating of phase place green time
Comprise two parts the service time that traffic intersection provides vehicle: Vehicle Driving Cycle to time and the vehicle of traffic intersection passes through the traffic intersection time used.Vehicle on track is with the form of streamline successively by traffic intersection, and last vehicle of vehicle of the phase place green time of i phase place and this phase place equates by the time of traffic intersection, and the streamline time distribution map that vehicle passes through traffic intersection as shown in Figure 6.Phase place green time length will be calculated according to the vehicle number in two time intervals: first's vehicle is that the last green light of phase place finishes to the vehicle number in the time period interval that current green light starts to light, and second portion vehicle number refers to that in first all vehicles in the time period are completely by the time vehicle number that arrives of traffic intersection.The formula of mathematical of the phase place green time length of i phase place is:
T
i=(Q
i+Q
i')
*v+t
0 （3）
In formula: T
ibe the phase place green time length (s) of i phase place, Q
ibe vehicle number in the time interval of the first of i phase place (), Q
i' vehicle number in the time interval of the second portion of i phase place (), the travel speed that v is vehicle (Km/h), t
0for vehicle is by the running time (s) of traffic intersection.
2, phase place is seized and is calculated and judge
No matter traffic control system is order excute phase green time successively, or carries out the phase place green time of seizing, all phase place green times be to be limited at fixing upper limit threshold and lower threshold within.If the phase place green time of trying to achieve according to phase place vehicle number is less than given lower threshold, phase place green time removes the limit threshold value; If phase place green time is greater than given upper limit threshold, phase place green time capping threshold value, corresponding formula of mathematical is:
In formula: T
ibe the phase place green time of i phase place, t
lfor the lower threshold (s) of phase place green time, t
uupper limit threshold (s) for phase place green time.
Three, the optimization analysis module of traffic control
Traffic efficiency analysis for single traffic intersection is the method Realization analysis by mathematical model, and the analysis indexes of single traffic intersection is the road vehicle traffic capacity and vehicle mean delay; The traffic control parameter that gathers and calculate is input in corresponding mathematical function and is calculated.The optimization analysis of traffic control relates generally to three mathematics pattern functions, and they are respectively saturation flow flow function, road passage capability function and vehicle mean delay function.
1, saturation flow flow function calculates
Track saturation flow flow function is the non-linear formula of, this formula of mathematical is that the people such as golden ripple (R.Kimber) of Britain's RTRL have carried out going deep into after systematic research proposing to road traffic, obtained scientific validation and extensively promoted, corresponding formula of mathematical is
S=196W
2-976W+1964 （5）
In formula: S is saturation volume (pcu/h); W is lane width (m).
2, road passage capability function calculates
The traffic capacity in traffic intersection and near section thereof is subject to the joint effect of Various Complex factor, comprises that road nature, environment, weather, service level Deng， national communication department have proposed a mathematical formulae that calculates the traffic capacity through observation and experiment for many years:
C
r=C
d×f
HV×f
d×f
w×f
f （6）
In formula: C
rfor actual capacity (pcu/h/ln), C
dfor the design capacity corresponding with actual travel speed (pcu/h/ln); f
hVfor traffic forms correction factor (/), f
dfor direction distribution correction factor, f
wfor track, shoulder width correction factor, f
ffor trackside disturbs correction factor.
Wherein, to form correction factor be and vehicle ratio, mathematical function that vehicle conversion factor is relevant that corresponding formula of mathematical is as follows in traffic:
f
HV=1/[1+ΣP
i(E
i-1)] （7）
In formula: P
iand E
iidentical with the definition in formula (2).
3, a mean delay function calculates
The formula that incur loss through delay in comparatively extensive, the classical calculating phase place track of application is at present Webster equation.This mathematical formulae is divided into two kinds of the lower situation of volume of traffic undersaturation and higher situations, the additional delay that the difference of two formula of mathematical produces while being mainly arrival rate random fluctuation, and the equilibrium that vehicle arrival rate produces to incur loss through delay be identical.When vehicle flowrate saturation degree is lower, the calculated with mathematical model formula of vehicle mean delay is:
In formula: the mean delay that d is each car (s/veh); C is Cycle Length (s); Q is vehicle arrival rate (veh/s); X is saturation degree, x=q/s; S is for being saturation flow amount (pcu/h/); λ is effective split of phase place, that is: λ=T/c; T is the effective green time (s) of phase place.
When road vehicle saturation degree is higher, corresponding calculated with mathematical model formula is:
In formula: x definition is identical with formula (8), z=120/ (vT), v is the magnitude of traffic flow (veh/h), the time span (s) of T for investigating.
Adopted traffic signal control system and the control method of this invention, its system comprises that the vehicle flowrate analysis module, the traffic control that are linked in sequence seize decision-making module and belisha beacon module.Utilizing this system to carry out in traffic signal control method, traffic control is seized decision-making module and based on clock phase, signal lamp module is controlled.When a phase place is carried out end, if traffic control is seized the phase place green time that decision-making module determines a certain phase place and is longer than default phase time, first carry out this phase place, the seize control of realization based on clock phase, and then carry out clock phase according to preset order, thereby can the high phase place of prior-release vehicle flowrate, effectively effect is alleviated urban traffic pressure, improve the traffic traffic efficiency in city, and traffic signal control system of the present invention and control method, its system architecture is comparatively simple, and method realizes with low cost, and range of application is comparatively extensive.
In this instructions, the present invention is described with reference to its specific embodiment.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (18)
1. a crossing traffic signal control system, it is characterized in that, described system comprises vehicle flowrate analysis module, decision-making module and belisha beacon module are seized in traffic control, the output terminal of described vehicle flowrate analysis module connects the input end that decision-making module is seized in described traffic control, the output terminal that decision-making module is seized in described traffic control connects the input end of described belisha beacon module, described vehicle flowrate analysis module comprises data processing unit, vehicle data collection unit and road junction data enactment unit, described vehicle data collection unit is all connected described data processing unit with road junction data enactment unit, described data processing unit also connects described traffic control and seizes decision-making module, described road junction data enactment unit comprises number of track-lines setting subelement, lane design form sets subelement and lane width is set subelement, described number of track-lines is set subelement, lane design form is set subelement and is all connected described data processing unit with lane width setting subelement.
2. crossing traffic signal control system according to claim 1, it is characterized in that, described vehicle data collection unit comprises pressure transducer and the ultrasonic sensor that is arranged at each track, described road junction, and described pressure transducer is all connected described data processing unit with ultrasonic sensor.
3. crossing traffic signal control system according to claim 1 and 2, is characterized in that, described system also comprises the optimization analysis module of traffic control, and the optimization analysis module of described traffic control connects described vehicle flowrate analysis module.
4. a method that realizes crossing traffic signal controlling based on system claimed in claim 1, it is characterized in that, the belisha beacon module described in the default clock phase sequential control of decision-making module foundation one is seized in described traffic control, described clock phase comprises at least three phase places, each described phase sequence circulation is carried out, each phase place all has default phase time upper and lower bound, and described method comprises the following steps:
(1) the vehicle flowrate data in described each track, vehicle flowrate analysis module Real-time Collection road junction, and decision-making module is seized in the traffic control described in being sent to;
(2), when current phase place is carried out end, described traffic control is seized decision-making module and according to the vehicle flowrate data in described each track, road junction, is determined the phase place green time of each described phase place;
(3) described traffic control is seized decision-making module according to described default clock phase order, judges whether next phase place is " being preempted phase place ", if so, enters step (8), if not, enters step (4);
(4) whether decision-making module judgement is seized in described traffic control has phase place green time to surpass the phase place of described preset phase time upper limit in each phase place, if having, enters step (5), if do not have, enters step (8);
(5) it is " seizing phase place " by the phase place green time phase settings maximum over the default phase time upper limit that decision-making module is seized in the traffic control described in, and is " being preempted phase place " by the next phase settings in described phase sequence;
(6) described traffic control is seized decision-making module and is controlled described described " seizing phase place " of belisha beacon module execution, then enters step (7);
(7) described traffic control is seized decision-making module and is returned to described " being preempted phase place ", and will be somebody's turn to do the current phase place that " being preempted phase place " completes as executed, then returns to step (2);
(8) described traffic control is seized decision-making module and is controlled the next phase place in the described phase sequence of described belisha beacon module execution, then returns to step (2).
5. the method for crossing traffic signal controlling according to claim 4, it is characterized in that, the in the situation that of right-angled intersection, described clock phase comprises the first phase place, the second phase place, third phase position and the 4th phase place, the first described phase place is craspedodrome and the right-hand rotation green light signals phase place of a road in described right-angled intersection, the second phase place is the left-hand rotation green light signals phase place of the road identical with the first phase place, third phase position is craspedodrome and the right-hand rotation green light signals phase place of another road in described right-angled intersection, the 4th phase place is the left-hand rotation green light signals phase place of the road identical with third phase position, the first described phase place, the second phase place, third phase position and the 4th phase place are carried out by default phase sequence circulation.
6. the method for crossing traffic signal controlling according to claim 4, is characterized in that, described step (1) specifically comprises the following steps:
(11) the track vehicle number in described each track, Real-time Collection road junction, vehicle data collection unit;
(12) described vehicle data collection unit is sent to described data processing unit by the track vehicle number in each track, road junction;
(13) described data processing unit reads road junction data parameters from described road junction data enactment unit, and described road junction data parameters comprises number of track-lines, lane design form and lane width;
(14) described data processing unit is determined the phase place vehicle number of each phase place according to the track vehicle number in each described track and described road junction data parameters;
(15) described data processing unit is sent to described traffic control by the phase place vehicle number of each described phase place and seizes decision-making module.
7. the method for crossing traffic signal controlling according to claim 6, is characterized in that, described step (11) specifically refers to:
Compact car, in-between car and the large car in described each track, Real-time Collection road junction, vehicle data collection unit pass through quantity, and shared ratiometric conversion is that the vehicle flowrate of standard minibus is as track vehicle number according to each vehicle.
8. the method for crossing traffic signal controlling according to claim 7, it is characterized in that, described vehicle data collection unit comprises pressure transducer and the ultrasonic sensor that is arranged at each track, described road junction, described pressure transducer is all connected described data processing unit with ultrasonic sensor, when described data processing unit passes through according to different automobile types, pressure transducer senses that this vehicle of Distance Judgment between vehicle front and back wheel is compact car, in-between car or large car.
9. the method for crossing traffic signal controlling according to claim 7, is characterized in that, described track vehicle number Q meets following formula:
Q＝E
1P
1+E
2P
2+E
3P
3
Wherein, Q is the vehicle flowrate of standard minibus, E
1for the conversion factor of compact car vehicle, E
2for the conversion factor of in-between car vehicle, E
3for the conversion factor of large car vehicle, P
1for compact car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
2for in-between car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
3for large car vehicle flowrate accounts for the number percent of total vehicle flowrate.
10. the method for crossing traffic signal controlling according to claim 6, is characterized in that, described step (14) is specially:
Phase place vehicle number using the value that in corresponding each track of this phase place, track vehicle number is maximum as this phase place.
The method of 11. crossing traffic signal controlling according to claim 4, is characterized in that, the phase place green time in described step (2) meets following formula:
T
i＝(Q
i+Q
i')*v+t
0
Wherein, T
ibe the phase place green time length of i phase place, Q
ibe the first of the i phase place vehicle number in the time interval, Q
i' be the second portion of the i phase place vehicle number in the time interval, the travel speed that v is vehicle, t
0for vehicle is by the running time of traffic intersection;
Described first refers to that this phase place finishes from a front green light time period that starts to light to current green light the time interval, and the vehicle number of described second portion in the time interval refers to the vehicle number arriving when all vehicles in the time interval are completely by traffic intersection in described first.
The method of 12. crossing traffic signal controlling according to claim 11, is characterized in that, described step (6) specifically comprises the following steps:
(61) described traffic control is seized decision-making module using the preset phase time upper limit of described " seizing phase place " as actual phase green time;
(62) described traffic control is seized decision-making module and is seized phase place according to the described belisha beacon module execution of described actual phase green time control, then enters step (7).
The method of 13. crossing traffic signal controlling according to claim 12, is characterized in that, described step (8) specifically comprises the following steps:
(81) described traffic control is seized decision-making module according to the actual phase green time T of the next phase place in the definite described phase sequence of following formula
i'
In formula: T
ifor phase place green time, t
lfor the lower threshold of default phase time, t
uupper limit threshold for default phase time;
(82) described traffic control is seized decision-making module according to the actual phase green time T of the next phase place in described phase sequence
i' control described belisha beacon module to carry out next phase place, then return to step (2).
14. according to the method for the crossing traffic signal controlling described in any one in claim 4 to 13, it is characterized in that, described crossing traffic signal control system also comprises the optimization analysis module of traffic control, the optimization analysis module of described traffic control connects described vehicle flowrate analysis module, described method also comprises traffic control optimization analysis operation, and described traffic control is optimized analysis operation and comprised Optimum Operation, the Optimum Operation based on road passage capability and the Optimum Operation based on vehicle mean delay based on saturation flow amount data.
The method of 15. crossing traffic signal controlling according to claim 14, is characterized in that, described saturation flow amount S is:
S＝196W
2-976W+1964；
In formula: W is lane width.
The method of 16. crossing traffic signal controlling according to claim 15, is characterized in that, described vehicle mean delay meets following formula lower than systemic presupposition flow value in the situation that at saturation flow amount S:
In formula: the mean delay that d is each car; C is Cycle Length; Q is vehicle arrival rate; X is that vehicle arrives saturation degree, x=q/s, and s is saturation flow amount; λ is effective split of phase place, λ=T/c; T is the effective green time of phase place,
At saturation flow amount S, higher than systemic presupposition flow value, time in the situation that, meets following formula:
In formula: x is that vehicle arrives saturation degree, x=q/s, s is saturation flow amount; Z=120/ (vT), wherein, v is the magnitude of traffic flow, the time span of T for investigating.
The method of 17. crossing traffic signal controlling according to claim 14, is characterized in that, described road passage capability C
rfor:
C
r＝C
d×f
HV×f
d×f
w×f
f
In formula: C
dfor the design capacity corresponding with actual travel speed; f
hVfor traffic forms correction factor, f
dfor direction distribution correction factor, f
wfor track, shoulder width correction factor, f
ffor trackside disturbs correction factor.
The method of 18. crossing traffic signal controlling according to claim 17, is characterized in that, described traffic forms correction factor f
hVmeet following formula:
f
HV＝1/[1+ΣP
i(E
i-1)]
In formula: P
ifor vehicle proportion, E
ifor vehicle conversion factor, i=1,2,3, E
1for the conversion factor of compact car vehicle, E
2for the conversion factor of in-between car vehicle, E
3for the conversion factor of large car vehicle, P
1for compact car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
2for in-between car vehicle flowrate accounts for the number percent of total vehicle flowrate, P
3for large car vehicle flowrate accounts for the number percent of total vehicle flowrate.
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