CN102568223B - Signal crossing right turn special lane real-time dynamic control method - Google Patents
Signal crossing right turn special lane real-time dynamic control method Download PDFInfo
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Abstract
The invention relates to a signal crossing right turn special lane real-time dynamic control method, and is aimed at solving a domestic civic crossing right turn special lane signal control dynamic time determination problem. The method comprises the following steps: (1) predicating arrived right turn motor vehicle, non-motor vehicle and pedestrian flow in present period; (2) calculating a corresponding basic control time when integration cost is minimal; (3) executing a right turn red light signal according to right turn basic control time; (4) dynamically detecting agglomeration degree magnitude in a conflict zone; (5) determining whether prolonging right turn control time is needed or not, and if so, prolonging the right turn control time, otherwise releasing the right turn red light signal if the right turn control time is up. According to the method, practical pass demands of a non-motor vehicle, a pedestrian and a right turn motor vehicle are considered synthetically, delay of each traffic flow passing a crossing is reduced, and conflict minimization of each traffic participant is ensured. While ensuring security of the non-motor vehicle and the pedestrian in a conflict direction, passing efficiency of the right turn motor vehicle is raised.
Description
Technical field
The present invention relates to a kind of method for the controller for urban single intersection field, in particular, the present invention relates to a kind of signalized intersections right-hand rotation dedicated Lanes real-time dynamic control method based on flow-aggregation degree, belong to the application innovation of traffic signals control field.
Background technology
Intersection signal control is the core means of improving crossing security of operation and efficient.At present, when formulating the traffic control scheme, people often more pay close attention to and keep straight on and left-turn traffic flow, and for the right-hand rotation traffic flow, then often it are not carried out signal controlling.Its reason is to stipulate according to " law on road traffic safety ": " motor line when crossing, should Reduced Speed Now; Meet the pedestrian by crossing, should Stop and give way ".But in fact, according to statistics only less than 1/3 right-hand rotation car can initiatively give way bicycle and pedestrian.In the mixed traffic crossing, the car lane green light rise bright after, if the right-hand rotation motor vehicle is uncontrolled, right-hand rotation motor vehicle track will form a large amount of potential conflicts with the bicycle that travels by the motor vehicle green light and pedestrian, be difficult to simultaneously the gap that appearance is passed through for the right-hand rotation motor vehicle.If the right-hand rotation motor vehicle passes through by force, will certainly greatly increase conflicting between right-hand rotation motor vehicle and bicycle and right-hand rotation motor vehicle and the pedestrian; Turn right simultaneously motor vehicle, bicycle and pedestrian three also can increase because dodging the delay that causes.Therefore, need to carry out dynamic signal controlling to the right-hand rotation wagon flow, with saturated non-vehicle flow and the pedestrian's stream of avoiding the green light initial stage, consider simultaneously right-hand rotation motor vehicle, craspedodrome bicycle, pedestrian's delay and safety.The right-hand rotation motor vehicle is controlled with traditional left-hand rotation, the control of craspedodrome motor vehicle essential distinction, and the Dynamic Signal control method of right-hand rotation wagon flow lacks quantitative research always.
American-European countries since bicycle and pedestrian to cross the street demand less, and the right-hand rotation motor vehicle needs all that Stop and give way, thereby the rarely seen document that relevant right-hand rotation wagon flow signal controlling aspect is arranged.And domestic inadequate to this problem attention, cause turning right motor vehicle and bicycle, pedestrian have accident to occur in fighting for the process of right-of-way repeatedly.Thereby set up right-hand rotation wagon flow signal control method to the improvement of current China urban transportation order, and crossing safety and benefit promote all of great advantage.
In sum, also there are the following problems and challenge for current research:
(1) in the mixed traffic crossing, the right-hand rotation wagon flow that same-phase is let pass all exists with bicycle and pedestrian conflicts, and when turning right vehicle signal control, must consider simultaneously two kinds of conflict (non-conflicts of machine, thereby also need the delay of considering that two kinds of conflicts cause respectively machine people conflict);
When (2) motor vehicle is turned right, successively " passing through " non-vehicle flow and two-way " pedestrian's stream ", therefore when formulating signal timing plan, must consider the time meta-displacement relation between motor vehicle and bicycle, the pedestrian, with this Correction and Control time;
(3) when turning right wagon flow control effect assessment, not only to consider traffic efficiency index-delay, more need consider because conflict improves the safety benefit (loss) that (deterioration) brings.Also namely take into account simultaneously and weigh safety (conflict) and two indexs of efficient (delay) wagon flow signal controlling of turning right.
Summary of the invention
The object of the present invention is to provide a kind of signalized intersections right-hand rotation dedicated Lanes real-time dynamic control method.
The signalized intersections right-hand rotation dedicated Lanes real-time dynamic control method that the present invention proposes, concrete steps are as follows:
(1) the right-hand rotation motor vehicle flow that arrives according to front several cycles
, the bicycle flow
And pedestrian's flow
, it is weighted on average, obtain this cycle to predict the right-hand rotation motor vehicle flow that reaches
, the bicycle flow
And pedestrian's flow
(2) predict right-hand rotation motor vehicle flow, bicycle flow and the pedestrian's flow that reaches according to described cycle of step (1), calculate the cost of delays that gives way and use
, the conflict expense
, the Signal control delay expense
And calculate minimum comprehensive cost
(3) predict right-hand rotation motor vehicle flow, bicycle flow and the pedestrian's flow that reaches according to described cycle of step (1), and three flows and control time relation, determine the bicycle basic controlling time
, the pedestrian flows the basic controlling time
(4) according to the canalization design proposal of pre-control crossing, the car that obtains turning right arrives the bicycle conflict area time
Arrive Pedestrian conflicts's zone time with the right-hand rotation car
, and definite right-hand rotation car basic controlling time
(5) take 1 second as the unit interval forbidden signal controlling of turning right that brings into operation, when the basic controlling time finished, beginning is the bicycle aggregation degree value of detection conflict area in real time
, pedestrian's aggregation degree value
(6) the bicycle aggregation degree value of comparison current detection
With bicycle Critical Control degree of gathering threshold value
, and pedestrian's aggregation degree value
With pedestrian's Critical Control degree of gathering threshold value
Determining whether needs to prolong the unit control time, namely judges whether
Greater than
Perhaps
Greater than
Prolong first a △ t as long as satisfy it, and be back to step (5) and continue operation, until remove right turn signal control when all not satisfying.
Among the present invention, minimum comprehensive cost described in the step (2) comprises give way cost of delays usefulness, conflict expense and Signal control delay expense; The cost of delays that gives way with described in delay comprise the delay of giving way of right-hand rotation motor vehicle, bicycle is incured loss through delay and the pedestrian incurs loss through delay, conflict described in the conflict expense comprises motor vehicle-bicycle conflict and motor vehicle-Pedestrian conflicts, and Signal control delay comprises right-hand rotation motor vehicle Signal control delay described in the letter control place mistake expense;
The basic controlling time determines it is that the different flows (right-hand rotation motor vehicle, bicycle and pedestrian) that arrive are determined optimum right-hand rotation car-bicycle basic controlling time initial value by the minimum value of battleground comprehensive cost by under the relatively more different control times in the step (3)
And right-hand rotation car-pedestrian's basic controlling time
To typical four phase place crossings, its phase place clearance form and right-hand rotation motor vehicle are as shown in table 1 with conflicting of bicycle, pedestrian.The right-hand rotation motor vehicle all existed in phase place 1 phase place 2, phase place 3 with conflicting of bicycle and pedestrian.Three conflict phase places as shown in Figure 1.In phase place 1, phase place 3 situations, right-hand rotation motor vehicle and non-vehicle flow, pedestrian flow to exist to intert and conflict and knock into the back conflict; Phase place 2 situation infradextroversion motor vehicles exist serious intersecting to conflict with bicycle.
Table 1 four phase place crossing right-hand rotation wagon flow conflict analysis
Annotate:
Be pedestrian phases, the bicycle phase place is identical with Vehicle Phase.
Present domestic right turn signal control generally has three kinds of patterns: turn right and allow phase place, turn right and protect phase place, permission/forbid (or forbid/allow) right-hand rotation phase place.Present most crossing is turn right to allow phase place, and content of the present invention is how in the right-hand rotation wagon flow serious phase place of conflicting with other traffic flows, adds and forbids phase place.Even becoming, also right-hand rotation wagon flow forbids-allows phase place: forbidding the phase place period that before the right-hand rotation motor vehicle was parked in stop line, no through traffic; Allowing the phase place period, the right-hand rotation wagon flow has right-of-way.Forbidding-allowing under the phase place that core is to determine to forbid the duration of phase place.
For the problems referred to above, flow the group property of motion according to non-vehicle flow and pedestrian, the present invention proposes the right-hand rotation wagon flow signal control method based on flow-aggregation degree, by the prediction non-vehicle flow of current period and the arrival amount of pedestrian's flow, the basic controlling time of the wagon flow that obtains on the macroscopic view turning right; Then take conflict with incur loss through delay the normalization comprehensive cost as index, set up right-hand rotation motor vehicle under the different control times and bicycle/pedestrian's aggregation degree-comprehensive cost model, and dynamically prolonged the control time according to aggregation degree-control time curve.The method has been considered the impact of different bicycles and pedestrian's flow simultaneously at input layer; In model layer, the collaborative time meta-displacement relation of having considered bicycle and pedestrian, the risk when having described by aggregation degree that the right-hand rotation wagon flow is passed through the conflict traffic flow simultaneously; Estimating layer, considered efficient and safety index, can be used for easily present mixing intersection signal control system.
Current crossing right-hand rotation wagon flow control mode common are three kinds: without control, entirely control and fixedly duration control, wherein most of crossings are without control, and fixedly duration control is rare, and minority crossing, Shanghai takes to fix 10 seconds right turn ban control time.Compared with prior art, innovation of the present invention is:
(1) when the wagon flow of turning right is calculated with the traffic flow concentration class of conflicting, considered successively " passing through " bicycle, pedestrian's time shifting relation of right-hand rotation motor vehicle;
(2) the comprehensive cost model of the present invention's employing has not only been considered respectively to incur loss through delay problem to traffic flow owing to what conflict caused, has also considered potential security risk with the transforming relationship of traffic conflict and accident;
(3) method that proposes of the present invention, but both correlation parameters of off-line calibration crossing, the wagon flow of turning right timing controlled; The aggregation degree that again can be online detects in real time the volume of traffic and conflict area by checkout equipments such as video camera, toroid windings carries out the induction type control of turning right.
(4) the present invention weighs and considers safety index (conflict) and efficiency index (delay), and more pays close attention to bicycle and pedestrian's street crossing safety problem, and people-oriented.
The present invention proposes flow-aggregation degree model, and flow (comprising right-hand rotation motor vehicle, bicycle and pedestrian) is used for defining the basic controlling time, and aggregation degree then is used for dynamically prolonging on the basis of basic controlling time.
The present invention sets up right-hand rotation motor vehicle and bicycle, pedestrian space-time concerns and determines conflict area and aggregation degree size with this according to crossing size and canalization.
The present invention is with conflict and incur loss through delay the control time that dual indexes is determined the right-hand rotation special signal in real time dynamically.
The present invention with critical aggregation degree threshold value as the foundation that judges whether need to prolong the right-hand rotation red light control time.
The present invention all is converted into the comprehensive cost value with number of collisions (inferior) and delay time at stop (second).
The present invention dynamically determines per cycle right-hand rotation wagon flow Optimal Signals control time take minimum comprehensive cost as the final decision foundation.
Description of drawings
Fig. 1 is right-hand rotation wagon flow control step.
Fig. 2 is that the right-hand rotation motor vehicle passes through bicycle and passes through pedestrian's expense figure.
Fig. 3 is right-hand rotation wagon flow conflict area synoptic diagram.
Fig. 4 is right-hand rotation wagon flow and the traffic flow time-space relation of conflicting.
Fig. 5 is bicycle/pedestrian's aggregation degree temporal evolution curve.Wherein: (a) being bicycle aggregation degree temporal evolution curve, (b) is pedestrian's aggregation degree temporal evolution curve.
Fig. 6 is right-hand rotation vehicle signal control implementation flow process.
Fig. 7 be among the embodiment control time to the real-time response figure of aggregation degree.
Fig. 8 is different schemes comprehensive cost contrast among the embodiment.
Embodiment
Further describe by reference to the accompanying drawings the present invention below by embodiment.
Among the present invention the right turn signal control time by the basic controlling time and dynamically prolong control time two parts and consist of, the workflow of the crossing right-hand rotation dedicated Lanes signal control method based on flow-aggregation degree of the present invention is described below in conjunction with accompanying drawing 1.
1. the basic controlling time is determined
1.1. the initial value of basic controlling time
The present invention is to incur loss through delay as efficiency index, take number of collisions as safety index, according to the relation of per capita income, conflict and traffic hazard and the Ministry of Public Security about road traffic accident grade classification and measure of indemnity, with the delay of giving way of right-hand rotation motor vehicle Signal control delay, right-hand rotation motor vehicle, bicycle delay, pedestrian's delay, motor vehicle-bicycle conflict, motor vehicle-Pedestrian conflicts's unification are a dimension---comprehensive cost.The basic controlling time really rule be by under the relatively different control times, differently arrive minimum value that flows (right-hand rotation motor vehicle, bicycle and pedestrian) produce comprehensive cost by the battleground and determine the right-hand rotation car of optimum-bicycle basic controlling time initial value
And right-hand rotation car-pedestrian's basic controlling time
By a large amount of factual surveies, can obtain under the different right-hand rotation flows recurrence comprehensive cost curve map under different bicycles/pedestrian's flow grade.When accompanying drawing 2 is depicted as the right-hand rotation vehicle flowrate and is 800pcu/, change respectively bicycle flow (Fig. 2 (a)) and pedestrian's flow (Fig. 2 (b)) grade, detect number of collisions and delay time at stop under the different flow, according to the described delay of table 2 and comprehensive cost, conflict and the transformational relation of comprehensive cost, obtain corresponding unit (1 second) cost of delays with and unit (1 time) conflict expense, again with the unit comprehensive cost curve that obtains after its addition (among Fig. 2 shown in each line).
In uncontrolled situation, the expense that motor vehicle right-hand rotation process produces comprises the total delay expense that right-hand rotation motor vehicle, bicycle and pedestrian dodge mutually, and the expense of always conflicting between right-hand rotation motor vehicle and bicycle, the pedestrian; And turn right when controlling, comprehensive cost is the right-hand rotation vehicle delay that signal controlling causes; Certainly also should comprise control giving way and the conflict expense after removing, the algorithm of this part expense is with to get algorithm without comprehensive cost under the control identical, and the below introduces respectively it.
(1) conversion of delay and comprehensive cost
Because the right-hand rotation vehicle delay that signal controlling causes can utilize HCM 2000 methods calculating (consider that the right-hand rotation motor vehicle does not almost have the secondary queuing, therefore do not consider initial queuing delay).Its formula is:
In the formula: d---signal controlling is incured loss through delay (second);
d
1---uniform delay (second);
d
2---at random additional delay (second);
C---cycle duration (second);
X---the saturation degree in the track of calculating;
The traffic capacity (pcu/h) in CAP---the track of calculating;
T---the lasting duration (h) of analyzing the period is got; 0.25h;
E---intersection signal control type correction coefficient, timing signal gets 0.5.
After obtaining each delay value, it is separately converted to cost value.The transforming relationship of delay time at stop and expense is referring to following formula (4).
Wherein: f
d---cost of delays usefulness, unit;
B---cabin factor;
D---the delay time at stop, second;
C
d---per capita income, unit.
(2) conversion of conflict and comprehensive cost
Motor vehicle successively clashes with bicycle, pedestrian in the right-hand rotation process, because the difference of conflict object, conflict angle, the conflict order of severity etc. so that directly number of collisions add and can't truly reflect the security quantification value that the operation of right-hand rotation motor vehicle brings, therefore also need it is converted into expense by following formula (5).
Wherein: f
c---conflict expense, unit;
A---conflict and accident conversion coefficient;
F (n)---all kinds of accident costs, second;
M, N---conflict, total number of accident.
The suggestion value of parameter is as shown in table 2 in the conversion process of conflict and delay.When practical application, according to crossing field condition and socio-economic development, can specifically revise again.
Table 2 conflict, the cost of delays transform the proposed parameter value
Whether need how long the right-hand rotation wagon flow is carried out control and control, just see whether red light control comprehensive cost has surpassed uncontrolled comprehensive cost, and how long comprehensive cost is minimum the red light control time.Curve is the right-hand rotation car that least cost is corresponding under the different flow grade-bicycle basic controlling time among Fig. 2
With right-hand rotation car-pedestrian's basic controlling time
1.2. the correction of basic controlling time
When motor vehicle is turned right, successively " passing through " non-vehicle flow and two-way " pedestrian's stream ", Fig. 3 is the conflict area that exists between right-hand rotation wagon flow and non-vehicle flow and the pedestrian's wagon flow.When carrying out right turn signal control duration calculation, except the uninterrupted that will consider parties to a conflict, also need according to the actual canalization scheme in crossing the control time to be revised, need namely also to consider that wagon flow arrives at the time of conflict area.
The right-hand rotation wagon flow is consulted Fig. 4 with the traffic flow time-space relation of conflicting, and wherein each meaning of parameters is as follows:
t
1---the right-hand rotation motor vehicle arrives the time with the bicycle conflict area
t
2---the right-hand rotation motor vehicle arrives the time with the Pedestrian conflicts zone
t
w---the right-hand rotation motor vehicle " passes through " time of bicycle
---the right-hand rotation motor vehicle " passes through " pedestrian's time
t
b---the bicycle group arrives the time of conflict area from stop line
t
n---arrive the time of conflict area apart from the pedestrian of the nearlyer end of right-hand rotation wagon flow stop line
t
f---arrive the time of conflict area apart from the pedestrian of a right-hand rotation wagon flow stop line end far away
According to Fig. 4, the encounter time t of right-hand rotation motor vehicle and bicycle
D1, with pedestrian's encounter time t
D2Can be expressed as:
Bicycle encounter time: t
D1=t
1-t
b(6)
Pedestrian's encounter time: t
D2=t
1+ t
w+ t
2-t
f(7)
Therefore, the final basic controlling time adds that by arriving control time initial value corresponding to flow correction two parts of encounter time consist of.At last, by being got maximal value the corresponding control time, bicycle, pedestrian obtain the final basic controlling time, that is:
2. the time expand in control time, determined
Aggregation degree refer to turn right bicycle or pedestrian's number of unit area in car and the bicycle/Pedestrian conflicts zone.Through a large amount of mixed traffic crossing video data statistical study, in 200-4400 people/h scope, the aggregation degree situation of change by the conflict area in one-period is followed characteristic rule shown in Figure 5 to the bicycle flow at (including but not limited to) 200-2600pcu/h, pedestrian's flow.That wherein Fig. 5 describes is right-hand rotation vehicle flowrate 800pcu/h and bicycle 600pcu/h, and bicycle and pedestrian's aggregation degree temporal evolution special case under the unidirectional scene of pedestrian's flow 400 people/h/.Need to prove that the change curve that other flows are corresponding can find aggregation degree sudden change value as shown in phantom in Figure 5.
Claim the value that is defined by dotted line among Fig. 5 for not needing the right-hand rotation motor vehicle not to be controlled corresponding critical aggregation degree threshold value among the present invention.The asynchronism(-nization) that different flow is corresponding when reaching critical aggregation degree threshold value also is that the openings of sizes of parabolic curve is different.But change respectively bicycle flow and pedestrian's flow, the critical aggregation degree threshold value of bicycle C
B0And the critical aggregation degree threshold value of pedestrian C
P0Significant change does not all occur, the critical aggregation degree threshold value C of suggestion bicycle among the present invention
B0=0.1/m
2, the critical aggregation degree threshold value of pedestrian C
P0=0.5/m
2The basic controlling time finish time, detect satisfy in the bicycle that obtains and the pedestrian's aggregation degree any greater than its threshold limit value then the control time prolong 1 second, and continue to detect and determine whether and need prolongation, until be lower than threshold limit value.
Comprehensive above the discussion, for any one crossing right-hand rotation dedicated Lanes, its detailed signal controlling flow process can be consulted Fig. 6.Concrete steps are as follows:
(1) Right-hand rotation motor vehicle flow according to front 3 cycles arrival
, the bicycle flow
And pedestrian's flow
, to it be weighted on average (
), obtain this cycle to predict the right-hand rotation motor vehicle that reaches
, bicycle
And pedestrian's flow
(2) According to described cycle right-hand rotation of step (1) motor vehicle, bicycle and pedestrian's flow, calculate the cost of delays that gives way by figure (2) and formula (4), (5) and use
, the conflict expense
Calculate the Signal control delay expense by formula (1) ~ (4)
And calculate minimum comprehensive cost
(3) Obtain the right-hand rotation car that minimum comprehensive cost is corresponding under the different flow-bicycle control time by Fig. 2 (a) and (b)
With right-hand rotation car-pedestrian's control time
(4) According to figure (4) and formula (6), (7) respectively, the car that obtains turning right arrives bicycle and Pedestrian conflicts zone time
And
, and definite right-hand rotation car basic controlling time
(5) Take 1 second as the unit interval forbidden signal controlling of turning right that brings into operation, when the basic controlling time finished, beginning is bicycle, pedestrian's aggregation degree value of detection conflict area in real time
,
(6) The bicycle aggregation degree that compares current detection
With pedestrian's aggregation degree
With bicycle, pedestrian's Critical Control degree of gathering threshold value
,
Determining whether needs to prolong the unit control time, namely judges whether:
C
b>C
b0 （9）
C
p>C
p0 （10）
As long as satisfy formula (9), (10) any one establishment then prolongs a △ t, and be back to for the 5th step and continue operation, until formula (9), remove right turn signal control when does not all satisfy (10).
Embodiment
Present embodiment is controlled to be case with crossing, Shanghai City right-hand rotation dedicated Lanes, has collected the basic documents such as canalization design proposal, letter prosecutor case of this crossing, and has carried out the traffic census of peak hour.Four phase place green times are respectively 75s, 25s, 60s, 48s, cycle duration 220s.Entrance driveway is example to the west of the present embodiment, right-hand rotation car Q
PHF=466PCU/h.It should be noted that present embodiment implements under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Fig. 7 has characterized in check western entrance driveway right-hand rotation motor vehicle of each cycle, bicycle and pedestrian's the different flow situation, average aggregation degree and the situation of change in control time.As fall into a trap basic controlling time in the 10th cycle of calculating of experiment be 25 seconds; Carrying out this basic controlling during the time, bicycle and pedestrian's aggregation degree value when the detection of dynamic basic controlling time finishes, because the bicycle aggregation degree then prolonged the control time greater than threshold limit value, Fig. 7 provided finally should cycle reality control time be 28 seconds.
Be thoroughly evaluating right-hand rotation vehicle signal control effect, it is as shown in table 3 to have designed contrast scheme and evaluation object.Wherein scheme 1 is the right-hand rotation control program that take usually present this crossing; Scheme 2 is the right-hand rotation timing controlled mode of the actual employing in parts of Shanghai crossing; Scheme 3 is the optimal control mode of the present invention according to the real-time dynamic response of aggregation degree computation model; Scheme 4 is the complete forbidden control of turning right.
The different right-hand rotation control program contrasts of table 3
Consult Fig. 8, in four kinds of proof schemes, the comprehensive cost of scheme 3 is all less than other three schemes.(under the 400/h of bicycle flow, two-way 800 people of pedestrian/h), compare based on induction control and no signal control, fixed length time and full control control that flow-aggregation degree changes, comprehensive cost has descended respectively 58%, 35% and 42% in the low discharge scene; Under the large flow scene (bicycle flow 1800, two-way 2000 people of pedestrian/h) comprehensive cost descends respectively 70%, 59% and 17%, and the motor vehicle flow of wherein turning right is 800pcu/h.In addition, experiment has reflected that also the expense that is caused by conflict is very large on total comprehensive cost impact.This shows when carrying out right turn signal control not only wants considering efficiency, more will firmly establish the principle of " safety first ".
Claims (1)
1. signalized intersections right-hand rotation dedicated Lanes real-time dynamic control method is characterized in that concrete steps are as follows:
(1) the right-hand rotation motor vehicle flow that arrives according to front several cycles
, the bicycle flow
And pedestrian's flow
, it is weighted on average, obtain this cycle to predict the right-hand rotation motor vehicle flow that reaches
, the bicycle flow
And pedestrian's flow
(2) predict right-hand rotation motor vehicle flow, bicycle flow and the pedestrian's flow that reaches according to described cycle of step (1), calculate the cost of delays that gives way and use
, the conflict expense
, the Signal control delay expense
And calculate minimum comprehensive cost
(3) predict right-hand rotation motor vehicle flow, bicycle flow and the pedestrian's flow that reaches according to described cycle of step (1), and above-mentioned three flows and control time relation, determine the bicycle basic controlling time
, the pedestrian flows the basic controlling time
(4) according to the canalization design proposal of pre-control crossing, the car that obtains turning right arrives the bicycle conflict area time
Arrive Pedestrian conflicts's zone time with the right-hand rotation car
, and definite right-hand rotation car basic controlling time
(5) take 1 second as the unit interval forbidden signal controlling of turning right that brings into operation, when the basic controlling time finished, beginning is the bicycle aggregation degree value of detection conflict area in real time
, pedestrian's aggregation degree value
(6) the bicycle aggregation degree value of comparison current detection
With bicycle Critical Control degree of gathering threshold value
, and pedestrian's aggregation degree value
With pedestrian's Critical Control degree of gathering threshold value
Determining whether needs to prolong the unit control time, namely judges whether
Greater than
Perhaps
Greater than
Prolong first a △ t as long as satisfy it, and be back to step (5) and continue operation, until remove right turn signal control when all not satisfying.
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