CN102622887A - Calculating method of effective capacity of road sections - Google Patents
Calculating method of effective capacity of road sections Download PDFInfo
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- CN102622887A CN102622887A CN2012101051976A CN201210105197A CN102622887A CN 102622887 A CN102622887 A CN 102622887A CN 2012101051976 A CN2012101051976 A CN 2012101051976A CN 201210105197 A CN201210105197 A CN 201210105197A CN 102622887 A CN102622887 A CN 102622887A
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Abstract
The invention discloses a calculating method of effective capacity of road sections. The calculating method includes putting forward an effective bandwidth evaluation method to monitor the running status and the control effect of an existing artery green wave coordinated control system; and using transmission control protocol/ internet protocol (TCP/ IP) window flow control thought for reference to design a artery dynamic coordinated control method of the window flow control to control congested traffic flow of city arteries. Simulation tests and comparison results prove that downstream intersections can inform upstream intersections of the effective capacity of the road section in real time through a window flow notice mode, traffic signal controllers at each intersection can redistribute the green time of each traffic flow according to current traffic requirements and the road section effective capacity, so that road section queue and vehicle overflow caused by excessive distributed green time can be avoided.
Description
Technical field
The present invention relates to urban traffic trunk line control field, particularly relate to the computing method of a kind of highway section useful capacity.
Background technology
Existing main line control method for coordinating mainly is through the signal timing dial parameter of adjustment adjacent signals crossing, pursues the wide maximization of green wave band under set transportation condition, therefore is referred to as the control of main line green wave coordination again.Facts have proved; It is better that the main line green wave coordination is controlled under the unsaturation situation control effect; But in the saturated and next control effect that reaches expection far away of supersaturation situation; Even the vehicle that occurs lining up is spilled over to crossing, the upper reaches, " deadlock " phenomenon that vehicle can't pass through during the green light of generation crossing, the upper reaches.See that from the development trend of existing procucts the developer has been considered the traffic of a certain direction, a certain crossing by microcosmic ground when design main line green wave coordination control method, change the traffic of considering upstream and downstream highway section, adjacent crossing gradually into macroscopically; By being controlled target merely, change the consideration queue length gradually into, reduce queue length, evacuate the crowded controlled target that is to reduce stop delay.Yet existing research still has two aspects to lack consideration, lacks the real-time monitoring to main line green wave coordination control system running status on the one hand; Lack real-time detection on the other hand to the highway section useful space.The former can be used for monitoring the validity of the main line green wave coordination controlling schemes of current executed; The latter then can hold the angle design signal timing dial of vehicle number, the generation of aforementioned to prevent " deadlock " phenomenon from the highway section.
Summary of the invention
The present invention at first proposes a kind of method that is used to calculate main line green wave coordination control system effective bandwidth from two angles, with the validity of monitoring green wave coordination control; And based on this; A kind of highway section useful capacity Real-time Notification method based on window traffic control thought is proposed; Make the crossing, downstream can inform the current useful capacity in highway section, crossing, the upper reaches; So that crossing, the upper reaches according to the useful capacity adjustment signal timing dial in highway section, in order to avoid green time distributes too much, causes highway section queuing vehicle to overflow.
In order to solve the problems of the technologies described above, the technical scheme that the present invention adopts is:
The computing method of a kind of highway section useful capacity, calculation procedure:
(1) calculates the maximum vehicle number that the highway section can hold;
(2) be spaced apart the cycle with certain hour, calculate the vehicle number in each track, current highway section of said cycle;
(3) each track vehicle number that calculates in the step (2) is added up, obtain the total vehicle number in the said highway section of current period;
The maximum vehicle number that (4) can hold deducts the total vehicle number in the said highway section of current period, obtains the said highway section of current period useful capacity.
Said highway section useful capacity is meant the maximum vehicle number from crossing, the upper reaches that the highway section current period holds; Said certain hour is to serve as at interval or with special time length to be the time interval signal period with signalized intersections at interval.
The computing method of the maximum vehicle number that current highway section can hold are:
Described current highway section vehicle number is made up of two parts: a part is a remaining vehicle number in the last time interval, and another part is that the vehicle number that interior accumulative total of this time interval gets into this highway section deducts the vehicle number that adds up in this period through the crossing.
Wherein, the queuing vehicle number computing method of left-hand rotation, right-turn lane are:
Q (η, L, t+1)=Q (η, L, t)+QN (η, L, t)+QA (η, L, t+1)-QD (η, L, t+1), wherein Q (η, L, t), QN (η, L, t) expression original queuing vehicle and new arrival vehicle number between two detecting devices when vehicle obtains t+1 green light right-of-way respectively; QA (η, L, t+1), QD (η, L, t+1) expression vehicle number that when the t+1 time green light finishes, arrives and the vehicle number that leaves respectively, (η, L are to remain vehicle number t+1) to Q.
The queuing vehicle number computing method of Through Lane are:
A kind of traffic control method according to highway section useful capacity dynamic coordinate, method is following:
(1) request is sent in the crossing downstream in crossing, the upper reaches, obtains the window traffic announcement;
(2) be target with the crowded direction wagon flow of prior-release, calculate by the required green time of clearance vehicle according to the real-time window traffic that obtains;
(3) consider crossing, downstream current light color state and excess time thereof, the green time that this direction of optimized distribution is final.
Further, the window traffic form is { T
i State, T
i Remain, ASL (i) }, T wherein
i State{ Yellow} representes that respectively current i crossing main line direction is red light, green light and amber light to ∈ for Red, Green; T
i RemainThe excess time of representing a certain light color, ASL (i) is the useful capacity in current highway section.
Wherein, The ASL (i) during if crossing, upper reaches vehicle number to be let pass is announced less than window traffic; Serve as according to calculating its needed green time G (i) then with vehicle number to be let pass; Otherwise the ASL (i) with in the window traffic announcement is a foundation, calculates the required green time of clearance ASL (i) vehicle number.
Said is the computing method of foundation with vehicle number to be let pass:
G (i)=L (i)+(N (η, θ)+N
Δ) * h, wherein L (i) is a start-up lost time, and h is a saturation headway, and (η θ) is queuing vehicle number to be let pass, N to N
ΔBe initiate vehicle during the green light clearance.
The computing method of the required green time of said clearance ASL (i) vehicle number:
Further confirm the computing method of final green time:
G(i)＝G
ASL+T
remain If?T
state∈{Green，Yellow}
G(i)＝G
ASL-T
remain If?T
state∈{Red}。
Visible by above technical scheme provided by the invention; Mode through the window traffic announcement; Crossing, downstream upstream crossing is informed the useful capacity in highway section in real time; Be convenient to the green time of each intersection signal machine, prevent that better main line from blocking according to each burst of useful capacity reorganization wagon flow in current transport need and highway section.
Description of drawings
Fig. 1 is the computing method time-distance map in the ideal case of a kind of highway section provided by the invention useful capacity;
Fig. 2 is that the computing method of a kind of highway section provided by the invention useful capacity are at the operating time-distance map of actual traffic;
Fig. 3 is the track synoptic diagram of the computing method of a kind of highway section provided by the invention useful capacity;
Fig. 4 is the canalization structural representation of the computing method crossing of a kind of highway section provided by the invention useful capacity;
Fig. 5 is the fixing timing main signal coherent system effective bandwidth figure of computing method of a kind of highway section provided by the invention useful capacity.
Embodiment
In order to make those skilled in the art person better understand the present invention program, the practical implementation method to technical scheme is described in further detail below.
The computing method of a kind of highway section useful capacity, concrete calculation procedure is following:
1) calculates the maximum vehicle number that current highway section can hold
The maximum vehicle number that current highway section can hold can calculate according to formula
and obtain; Wherein L (i) is basic road section length; L (i) is the canalization road section length; LV is average vehicle length; SV is saturated space headway, and n is non-canalization part number of track-lines, and m is a canalization part number of track-lines.
2) calculate the vehicle number in each current highway section, track
Vehicle number on the i of highway section is made up of two parts; A part is a remaining vehicle number in the last time interval; Another part is that the vehicle number that interior accumulative total of this time interval gets into this highway section deducts the vehicle number that adds up in this period through the crossing, and its computing method can be added up by each track queuing vehicle number and obtained.
The computing method of each track queuing vehicle number:
Under the saturated conditions, when each phase place green light finished, red interval waited for that the vehicle of letting pass can not be detained vehicle and will wait for that green light is let pass with newly arrived vehicle next time all through the crossing.The data that provide based on traffic detecting device on the road are let pass when initial at green light next time, can calculate each track and wait for the vehicle number of letting pass.
Computing method in conjunction with accompanying drawing 3 each track queue length of explanation.In accompanying drawing 3, track 3 is the left-hand rotation dedicated Lanes, and track 2 is a Through Lane, and track 1 is the craspedodrome right-turn lane.Detecting device places near the stop line respectively and the left-hand rotation dedicated Lanes are terminal and the Through Lane upstream position.Distance between left turn lane two detecting devices is L
LT, can be used for statistics left-hand rotation queuing vehicle number; The distance that reaches between straight right two detecting devices of keeping straight on is L
RT, can be used for statistics craspedodrome queuing vehicle number.
(1) the queuing vehicle number of left turn lane
When supposing that current the t time green light finishes, two detecting device L of left turn lane
1And L
2Between the queuing vehicle number be Q (η, L, t), wherein η ∈ E, S, W, N}, expression crossing east (E), south (S), west (W), north (N) four importers to.The traffic direction of vehicle can be expressed as θ ∈ L, T, R}, wherein L representes to turn left, T representes to keep straight on, R representes to turn right.L
2Continuation is to newly detecting to vehicle, when then the vehicle on the track 3 obtains t+1 green light right-of-way, and L
1And L
2Queuing vehicle number between detecting device be original queuing vehicle number Q (η, L, t) with new arrive vehicle number QN (η, L, t) sum, that is: N (η, L, t)=Q (η, L, t)+QN (η, L, t).
When this track obtains the green light right-of-way once more, L
1Begin the vehicle that leaves to be detected L
2Continue to detect newly arrived vehicle.When the t+1 time green light finishes, L
2Detect the vehicle number that arrives during the green light and be QA (η, L, t+1), L
1Detect the vehicle number that leaves during the green light and be QD (t+1), the residue vehicle number between this moment two detecting devices is for η, L: Q (η, L, t+1)=N (η, L, t)+QA (η, L, t+1)-QD (η, L, t+1).
By above-mentioned iterative formula, just can calculate the vehicle number that to let pass when this track obtains green light once more.
(2) the straight right side flows to the queuing vehicle number in each track
The calculating principle of the queuing vehicle number in track 1 is identical with track 3.For track 2, because the detecting device T at the upper reaches, highway section
2Not only detect the vehicle of keeping straight on, also have the vehicle of left-hand rotation simultaneously, the queuing vehicle that therefore calculates on the track 2 is comparatively complicated.Should remove the vehicle number of left-hand rotation when calculating the queuing vehicle number in track 2, the ratio of left turning vehicle then can be passed through L
1And L
2The data computation that detects in real time obtains.The t time green light in current track 2 finishes, and the vehicle number that then is detained on the track 2 is:
Wherein,
is that the t time green light finishes when t+1 green light begins, to add up to arrive the shared number percent of left turning vehicle in the vehicle number,
When the t+1 time green light finishes, T on the track 2
1And T
2Queuing vehicle between two detecting devices is:
3) computing method of highway section useful capacity
(Available Storage of a Link ASL) is meant the current maximum vehicle number from crossing, the upper reaches that can hold in highway section to the highway section useful capacity.Under the saturation conditions, the vehicle number of letting pass in the crossing is not only relevant with green time length, also receives the restriction of vehicle direct of travel downstream road section useful capacity.If the vehicle number of downstream road section queuing is more, then its useful capacity is less, can hold from the vehicle number of crossing, the upper reaches also less; This moment, crossing, the upper reaches was many more at the green time that this direction gives, and the green time that causes wasting is just many more, had a strong impact on the space-time benefit of crossing.Therefore crossing, the upper reaches should take into full account the useful capacity of downstream road section when giving a certain direction green time, should calculate the vehicle number of letting pass according to the highway section useful capacity, and then confirms the green time that gives, so that make full use of the time null resource of crossing.
The computing method formula of highway section useful capacity is: ASL (i)=SL (i)-NQ (i).
Wherein, SL (i) is the capacity of highway section i, the maximum vehicle number that the section of showing the way i row can hold when expiring vehicle; NQ (i) is meant the vehicle number on the i of current time highway section.
According to the traffic control method of highway section useful capacity dynamic coordinate, the practical implementation method:
Under the saturated conditions; Dredging the effective means of congested flow should break original set control procedure as the traffic police, reduce the vehicle number of crossing, upper reaches clearance crowded section of highway to downstream; Increase the green time of the crowded direction in crossing, downstream, to accelerate crowded dredging.The present invention is according to the real-time detected traffic data of detecting device; With the crowded direction wagon flow of prior-release is target; According to the window traffic announcement that obtains; Each when providing the green light right-of-way through computation optimization, the green time of the wagon flow of waiting again to let pass is to reach the crowded purpose that relieves traffic congestion fast.
Each signalized intersections is according to the detected traffic data of detecting device, calculates the useful capacity in the highway section of have jurisdiction in real time, when crossing, the upper reaches when it sends request, the crossing, downstream is then announced to window traffic of its transmission.Its windowed format is: { T
i State, T
i Remain, ASL (i) }, T wherein
i State{ Yellow} representes that respectively current i crossing main line direction is red light, green light and amber light to ∈ for Red, Green; T
i RemainThe excess time of representing a certain light color, ASL (i) is the useful capacity in current highway section.
The main line dynamic coordinate control principle of window traffic control:
(1) obtains relevant static traffic data and the dynamic traffic data that current main line is coordinated each crossing of control;
(2) obtain phase place, the phase sequence of each crossing;
The dynamic traffic data of (3) gathering with time interval T are the basis, calculate the effective bandwidth ABW of the main line coordinated control system of current operation, if ABW less than threshold value δ, then changes (4), otherwise do not change the current demand signal control mode, change (10);
(4) each crossing is according to the detected data computation of detecting device highway section useful capacity, and with windowed format crossing send window flow announcement upstream;
(5) after window traffic announcement was received in crossing, the upper reaches, with changing current signal controlling scheme, the relevant information that current each track queuing vehicle number that calculates according to detector data is informed in announcing with window traffic was redistributed main line direction green time;
(6) if crossing, upper reaches vehicle number to be let pass less than the ASL (i) in the window traffic announcement, serve as according to calculating its needed green time G (i) then, otherwise change (7) with vehicle number to be let pass;
(7) be foundation with the ASL (i) in the window traffic announcement, calculate the required green time of clearance ASL (i) vehicle number, and consideration crossing, downstream current light color state and excess time thereof, the green time that this direction of optimized distribution is final;
(8) according to the result of calculation of (6) or (7), for this direction is provided the green light right-of-way, other competition directions then are red light;
Repeating step (4)-(8) when (9) this direction will soon obtain right-of-way once more;
(10) T=T+1 changes (3).
Wherein, the computing method of step (6) green time are following:
G (i)=L (i)+(N (η, θ)+N
Δ) * h, wherein L (i) is a start-up lost time, and h is a saturation headway, and (η θ) is queuing vehicle number to be let pass, N to N
ΔBe initiate vehicle during the green light clearance.
Step (7) is if the required green time of clearance ASL (i) vehicle number calculates as follows:
G(i)＝G
ASL+T
remain If?T
state∈{Green，Yellow}
G(i)＝G
ASL-T
remain If?T
state∈{Red}
The main line dynamic coordinate control method of above-mentioned window traffic control is applicable to saturation conditions; Distribute how many green times of main line direction; Depend on the useful space supply in the announcement of current transport need and window traffic fully, comparatively effective to dredging congested flow.
Sunykatuib analysis in conjunction with instantiation:
1. modeling scheme design
In conjunction with accompanying drawing 4, the present invention is a research object with three continuous crossings, and the west-east at place, three crossings is city thoroughfare to the highway section, and distance is about 600 meters between each crossing.Experiment is an instrument with the VISSIM simulation softward of German PTV company, utilizes VB to call the com interface of VISSIM, and reading detector data and signal controlling machine parameter program and realize the calculating of effective bandwidth, realize steering logic with VAP simultaneously.Dolly ratio 90% in the modeling scheme, speed 45～60km/h, cart ratio 10%; Speed 25～30km/h simulated 3600 seconds altogether, and preceding 600 second flow amounts are less; Be used for the balance road network, it is 2400 seconds that the peak period of setting continues duration, and promptly the 600th second was rush hour by the 3000th second; Be flat peak time excess time, and the rush-hour traffic amount is 1.2～1.5 times of flat peak time during simulation.
Modeling scheme is divided into two, all adopts green wave coordination control during the scheme one whole simulation; The two simulation initial stages of scheme are adopted green wave coordination control, adopt the effective bandwidth computing method to monitor simultaneously, when finding effective bandwidth less than threshold value, just convert the window traffic controlling schemes into.Calculate for simplifying, only to main line from west to east direction carry out green ripple control; In the green wave coordination controlling schemes, three crossing shared signal cycle durations are 95 seconds, and the bandwidth of design is 20 seconds, and the threshold value of effective bandwidth was made as 5 seconds.
Wherein, the present invention designs the effective bandwidth evaluation algorithms (Algorithm of Searching Available Bandwidth ASAB), calculates the effective bandwidth in the existing main line coordinated control system realizing in real time.
ASAB Algorithm design condition comprises: the crossing quantity that the main line coordination is participated in (1) is N, N >=2; The highway section of (2) participate in coordinating between the adjacent crossing with its downstream of terminal chiasma mouth of control is longer, can hold the vehicle of terminal chiasma mouth release and can not line up and overflow; (3) can obtain the speed of a motor vehicle, the vehicle information that arrives vehicle in real time and add up vehicle number through the wagon detector teleseme through detecting device; (4) time interval of teleseme execution ASAB is identical with the cycle of current main line coordinated control system.
The computing formula of effective bandwidth is ABW=min{G
Pub(i) }, wherein ABW is the effective bandwidth of main line coherent system, G
Pub(i) be the publicly-owned green time of i crossing.The publicly-owned green time of each crossing can be by formula G
Pub(i)=G (i)-G
Priv(i) calculate, wherein, G (i) is the green time of i crossing main line direction, G
Priv(i) be the privately owned green time of i crossing.The privately owned green time of each crossing can be by G
Priv(i)=and N (η, θ, i) * h calculates.Wherein, (η, θ are the preceding queuing vehicle number of the initial moment stop line of crossing i main line direction green light i) to N, and h is a saturation headway.
The computation process of ASAB algorithm is following:
(1) the green time G (i) of acquisition current demand signal cycle crossing i main line direction, i=1,2 ..., N;
(2) whether monitoring crossing i main line direction red time finishes, if then turn to (3), otherwise continues monitoring, i=1, and 2 ..., N;
(3) calculate queuing vehicle number N before the initial moment stop line of crossing i main line direction green light (η, θ, i), i=1,2 ..., N;
(4) the privately owned green time G of calculating crossing i
Priv(i), i=1,2 ..., N;
(5) the publicly-owned green time G of calculating crossing i
Pub(i), i=1,2 ..., N;
(6) the minimum publicly-owned green time min{G of N crossing of calculating
Pub(i) }, i.e. effective bandwidth ABW.
(7) effective bandwidth of output current period main signal coordinated control system, and to min{G
Pub(i) } the crossing i under gives 1 minute punishment, i.e. punish (i)=punish (i)+1;
(8) if ABW less than threshold value δ, then current main signal is coordinated control fails, output max{punish (i) } under the crossing; Otherwise change step (1), next signal period is monitored.
2. combine accompanying drawing 5 to carry out simulation result analysis, scheme one in order to analyze the implementation effect of main line green wave coordination control, adopts the effective bandwidth searching algorithm that it is carried out complete monitoring during simulating.The forward part time of the main line coordinated control system of scheme one during simulating, the green ripple control effect of this mains system realization was better during this period because vehicle flowrate is less, and the traffic loading of mains system is lower, and the effective bandwidth of system is bigger; But along with the increase of vehicle flowrate, the traffic loading of whole mains system constantly raises, and the effective bandwidth of system reduces until being 0 gradually, explains that the control of main line green wave coordination has been difficult to realize that actual green ripple is current during this, and mains system is in state of saturation.
Scheme two, the initial stage is still adopted the green wave coordination controlling schemes in the scheme one, when the effective bandwidth threshold value that monitors mains system is lower than 5 seconds, just stops the green wave coordination controlling schemes, switches to the window traffic controlling schemes that the present invention proposes.Be numbered 3 and 2 crossing, in time to its crossing, upper reaches send window flow announcement, crossing 1 is announced the green time of dispensed according to the queuing vehicle number of this direction with the window traffic that receives with crossing 2.
Table 1 and table 2 are performance evaluation comparing results of two kinds of scheme control effects.
The comparison of two kinds of main signal controlling schemes of table 1 queue length
Two kinds of schemes of table 2 are incured loss through delay and the comparison through vehicle number
Can find out from the performance index contrast of VISSIM output; Implement after the controlling schemes of window traffic control; Can effectively reduce crowded average queue length and the maximum queue length that flows to of main line, the vehicle mean delay on the main line has substantial degradation, and overall average delay in crossing also decreases; The vehicle number that passes through increases relatively, explains that the main line of enforcement window traffic control under the crowed condition is coordinated the congested traffic condition that controlling schemes can be alleviated the main line direction effectively.Though after implementing the main line coordination controlling schemes of window traffic control; The mean delay of each north and south, crossing import increases to some extent; But compare with main line green wave coordination control mode; Queue length amplification is little, does not explain to cause other competition direction wagon flows overcrowding because of discharging main line direction wagon flow.Consider that from the angle of total system though sacrificed the interests of some other competition direction wagon flows, the interests of total system have obtained maximization, and can effectively guarantee the unimpeded of main line, avoid the generation of " deadlock " phenomenon.Show that through each item evaluation index the main line dynamic coordinate control mode that saturation conditions is implemented window traffic control down is comparatively effective.
Need to prove: under the prerequisite that does not break away from know-why of the present invention, can do some improvement, these improvement also can be regarded as protection scope of the present invention.
Claims (6)
1. the computing method of a highway section useful capacity is characterized in that may further comprise the steps:
(1) calculates the maximum vehicle number that the highway section can hold;
(2) be spaced apart the cycle with certain hour, calculate the vehicle number in each track, current highway section of said cycle;
(3) each track vehicle number that calculates in the step (2) is added up, obtain the total vehicle number in the said highway section of current period;
The maximum vehicle number that (4) can hold deducts the total vehicle number in the said highway section of current period, obtains the said highway section of current period useful capacity.
2. the computing method of a kind of highway section according to claim 1 useful capacity is characterized in that, said highway section useful capacity is meant the maximum vehicle number from crossing, the upper reaches that the highway section current period holds; Said certain hour is to serve as at interval or with special time length to be the time interval signal period with signalized intersections at interval.
3. the computing method of a kind of highway section according to claim 1 useful capacity, the computing method of the maximum vehicle number that described current highway section can hold:
In the formula, the maximum vehicle number that SL (i) holds for the highway section, L (i) is basic road section length, and l (i) is the canalization road section length, and LV is average vehicle length, and SV is saturated space headway, and n is non-canalization part number of track-lines, and m is a canalization part number of track-lines.
4. the computing method of a kind of highway section according to claim 1 useful capacity; It is characterized in that; Described current highway section vehicle number is made up of two parts: a part is a remaining vehicle number in the last time interval; Another part is that the vehicle number that interior accumulative total of this time interval gets into this highway section deducts the vehicle number that adds up in this period through the crossing, and its computing method can be added up by each track queuing vehicle number and obtained.
5. according to the computing method of claim 1 or the described a kind of highway section of claim 4 useful capacity, it is characterized in that the queuing vehicle number computing method of left-hand rotation in said each track queuing vehicle number, right-turn lane are:
Q (η, L, t+1)=Q (η, L, t)+QN (η, L, t)+QA (η, L, t+1)-QD (η, L, t+1), wherein Q (η, L, t), QN (η, L, t) expression original queuing vehicle and new arrival vehicle number between two detecting devices when vehicle obtains t+1 green light right-of-way respectively; QA (η, L, t+1), QD (η, L, t+1) expression vehicle number that when the t+1 time green light finishes, arrives and the vehicle number that leaves respectively, (η, L are to remain vehicle number t+1) to Q.
6. according to the computing method of claim 1 or the described a kind of highway section of claim 4 useful capacity, it is characterized in that the queuing vehicle number computing method of Through Lane are in said each track queuing vehicle number:
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| CN112289030A (en) * | 2020-11-02 | 2021-01-29 | 吉林大学 | Method for calculating maximum number of vehicles capable of being accommodated in urban road network |
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