CN102867422B - Vehicle ad hoc network-based real-time single-point intersection signal lamp control method - Google Patents
Vehicle ad hoc network-based real-time single-point intersection signal lamp control method Download PDFInfo
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Abstract
The invention discloses a vehicle ad hoc network-based real-time single-point intersection signal lamp control method, relating to a real-time city single-point intersection signal lamp control method, and solving the problems that by using a signal control method for detecting the queuing length at entrance passages by virtue of a coil detector in the prior art, the calculated queuing length is easily subjected to influence of detection speed errors and cause large difference between the estimated queuing length and the practical queuing length. The control method is used for traffic control. The method comprises the following steps of: based on a vehicle ad hoc network, grouping the queuing vehicles at each entrance lane, selecting certain vehicle as an external communication node of the vehicle ad hoc network, and sending the queuing length information of vehicles to a signal controller of a signal intersection signal lamp by the vehicle; and based on the vehicle queuing information, and completing calculation on next signal control period length and design on the green lamp phase position combination timing by the signal controller.
Description
Technical field
The present invention relates to the signal lamp real-time control method of city single-point cross junction.
Background technology
Many countries all show great attention to city, especially metropolitan traffic jam issue.The most frequently used method Shi crossing realizes signal controlling.The signal control method of single-point crossing roughly can be divided into 3 classes: signal controlling, timing signal are controlled and real-time signal control at times.Signal controlling based on the different periods in one day, was divided into certain several period by one day, and each period adopts a kind of signal timing dial method pre-establishing.Timing signal is controlled no matter how traffic environment and time change, and adopts static signal timing plan completely.Real-time signal control is by analyzing real-time traffic circulation situation, and Automatic Optimal is adjusted signal time distributing conception.
The advantage that signal controlling and timing signal are controlled is at times without extra traffic information collection equipment and complicated control algolithm, but it is controlled effect and compares real-time signal control and have larger gap.On the other hand, real-time signal control obtains by Real-time Traffic Information, can formulate more reasonably signal timing plan, thereby alleviates traffic congestion.But the difficult point of its core be how to detect accurately, real-time transport information.Current, the most frequently used transport information checkout equipment in signalized intersections place mainly comprises: coil checker, ultrasonic detector, microwave detector and video detector etc.Coil checker and ultrasonic monitor need to be embedded in below, road surface, cause its maintenance cost higher.Although video and microwave detector are easy to install, and can cause higher maintenance cost equally.
At present, the signal controlling according to each entrance driveway queue length of crossing is optimum real-time signal control method.In engineering practice in the past, for realizing this control method, need on every track of each entrance driveway, coil checker be installed.The detection of queue length depends on overflow the back data of detecting device of upstream queue length detecting device and downstream.In addition, the queue length of calculating is very easy to be subject to the impact of detection speed error, thus cause estimated queue length and actual deviation larger.
Summary of the invention
The object of this invention is to provide a kind of single-point cross junction signal lamp real-time control method based on car self-organization network, to solve prior art, utilize coil checker to detect the signal control method of each entrance driveway queue length, the queue length of calculating is very easy to be subject to the impact of detection speed error, thereby causes estimated queue length and the larger problem of actual deviation.
This method is based on car self-organization network, queuing vehicle to each entrance driveway track is formed a team, and select a certain vehicle as the correspondence with foreign country node of this car self-organization network, the signal controller transmission vehicle queue length information by this vehicle to this signalized intersections signal lamp; Signal controller completes the calculating of next signal control cycle length and the design of green light phase combination timing based on vehicle queue's information.
The proposition of car self-organization network (VANETs) technology, make without any transport information checkout equipment is installed in crossing, just can communicate by letter with signal controller by the communicating by letter of car and car, vehicle, obtain the queue length transport information of each entrance driveway of crossing, thereby calculate exactly and timing.Solved prior art and utilized coil checker to detect the signal control method of each entrance driveway queue length, the queue length of calculating is very easy to be subject to the problem of detection speed error effect.
Accompanying drawing explanation
Fig. 1 is the crossing real-time signal control system schematic based on VANETs; Fig. 2 is the schematic diagram of cross junction entrance driveway and lane number; Fig. 3 is that the phase place of dicyclo signal controlling arranges corresponding diagram; The workflow diagram of Fig. 4 system; Fig. 5 is the vehicle exemplary plot of forming a team.
Embodiment
Embodiment one: illustrate present embodiment below in conjunction with Fig. 1 to Fig. 5.The method of present embodiment is based on car self-organization network, queuing vehicle to each entrance driveway track is formed a team, and select a certain vehicle as the correspondence with foreign country node of this car self-organization network, the signal controller 1 transmission vehicle queue length information by this vehicle to this signalized intersections signal lamp; Signal controller 1 completes the calculating of next signal control cycle length and the design of green light phase combination timing based on vehicle queue's information.
(1) system architecture of the inventive method
The function of system of the present invention is the real-time signal control of realizing single-point cross junction.System forms and has comprised: signal controller 1 and car self-organization network (VANETs).Car self-organization network can be realized the function of communicating by letter between communicating by letter of car and workshop and vehicle and intersection signal controller 1.The function of car self-organization network is to obtain the information of crossing inlet road vehicle queue length, and based on Che-Che, " leader " vehicle (leader) is selected in communication in MANET inside, by " leader " vehicle, regularly sends queue length information to signal controller.The real-time Optimal Signals that signal controller is realized based on track queue length is controlled, and has mainly comprised signal controlling cycle optimization module and phase place green time and has optimized module.System signal as shown in Figure 1.
(2) digital model of crossing and signal controlling phase place thereof
For realizing the real-time signal control of crossing, first need crossing and control phase thereof to carry out digitization modeling.Each entrance driveway of crossing is numbered successively according to orientation separately: east (E), south (S), west (W), north (N).Each entrance driveway supposition has 2 tracks, is respectively left turn lane (L) and craspedodrome/right-turn lane (F).Thereby, each entrance driveway track of crossing can be represented to D=EF namely, EL, NF, NL, WF, WL, SF, SL with an indications D.Consequent crossing model as shown in Figure 2.
Crossing digital model based on set up, can arrange by dicyclo signal phase as shown in Figure 3 the control realizing this crossing.In a control cycle (cycle), signal controlling comprises altogether 4 phase places, is respectively: phase place 1(G1 and G5), phase place 2(G2 and G6), phase place 3(G3 and G7) and phase place 4(G4 and G8).
(3) workflow of system
The operational scheme of this system refers to Fig. 4.Every track of each entrance driveway, after its current green time finishes, starts its queuing vehicle form a team (algorithm of forming a team see (4) joint), and when forming a team, and selects " leader " that form into columns (leader).Be selected as the vehicle of " leader " by accepting the transport information of formation member vehicle, calculate the queue length before of next current green time, and queue length information is regularly sent to signal controller.
When in track, current green time starts, " leader " of this track queuing vehicle sends to signal controller (queue length is calculated and seen (5) joint) by final queue length result of calculation, then passes through crossing.When the current green time of phase place 4 starts, the queue length information of signal controller based on received, calculate next signal control cycle length and corresponding green light timing allocative decision (signal period and green light timing scheme see (6) and (7) save).
(4) algorithm of forming a team of the vehicle based on VANETs
For the real-time signal control of crossing, the queue length of obtaining each each track of entrance driveway is vital.Vehicle with radio communication function can directly send to signal controlling machine by information separately, yet, while there is more vehicle in queuing up, if vehicle is all communicated by letter with signal controller, the obstruction of communication will be caused, and the decline of signal controller calculated performance can be caused.Thereby, thinking of the present invention is: the vehicle of queuing up on a track is formed a team, and (during forming a team, from this track, current green time finishes, to next current green time, start), then from form a team, select " leader " that form a team (leader), between " leader " vehicle and each queuing vehicle, mode by radio communication is determined queue length, then by " leader " is unified, queue length information is sent to signal controlling machine.Fig. 5 has provided the signal that vehicle is formed a team.
As follows for the designed detailed vehicle in a certain track, the crossing inlet road process of forming a team:
Step 1: the phase place setting of signalized intersections as shown in Figure 3.After the current green time in this track finishes, the vehicle queue that reaches crossing from this track starts to form, and the vehicle of each arrival is near the information that " leader " served as in request of vehicle broadcast; The content that this packets of information contains is: the id information of the time of sending of unique vehicle ID information, this information, the longitude and latitude position of vehicle and intersection signal controller 1; Other vehicle that receives this information does not generate the information of self, but again broadcasts the information that this receives.
Step 2: its information of broadcasting of the vehicle contrast of broadcast " leader " solicited message and received " leader " solicited message from other vehicle, then can, to sending an information than its more Zao vehicle that enters queuing (position approaches crossing more), show oneself to abandon the application of " leader ";
Step 3: final definite vehicle form a team " leader " " election " result is sent to its member's vehicle, receive member's vehicle of " leader " information that vehicle sends, to " leader " vehicle, feed back an information as confirmation; When " leader " vehicle receives the feedback information from member's vehicle, its can send one to this member's vehicle accept it as the confirmation of member's vehicle; After member's vehicle receives the confirmation from " leader " vehicle, it will upgrade " leader " vehicle ID of self, and with " leader " share form a team in the information of other member's vehicle;
Step 4: the whole signal controlling except the green time of self is in the cycle, " leader " vehicle all receives the information from its member's vehicle, and periodically queue length information is sent to signal controller 1(queue length computing method to refer to (5) joint).
Step 5: when the current green time of " leader " vehicle starts, it no longer receives any information from its member's vehicle, directly passes through crossing;
Step 6: after current green time finishes, repeating step 1 is to step 5.
(5) entrance driveway track queue length algorithm for estimating
After the current green time of phase place finishes, the queuing in corresponding track starts to form." leader " vehicle starts to receive the information of its member's vehicle.Vehicle queue length estimation formulas is as follows:
Wherein, RQL represents the queue length in current period t; D represents the coding in entrance driveway track, i.e. D=1, and 2 ..., 8(is shown in (2) joint); VL represents the average length of vehicle; ADBV represents the average headway between vehicle; N represents the vehicle number of forming a team.
" leader " vehicle, according to formula (1), calculates vehicle queue length, and this length is sent to signal controller.Signal controller is according to the vehicle queue length in current period and the first two cycle, and the mode of employing weighting, calculates final vehicle queue length, as formula (2):
QL
D(t)=A×RQL
D(t)+B×RQL
D(t-1)+C×RQL
D(t-2）（2）
Wherein: A+B+C=1; A=RQL
d(t)/1
d; B=(1-A) * A; 1
dthe length that represents import track D.
(6) signal controlling computation of Period method
The signal controlling cycle of Yi Ge crossing can not be oversize can not be too short.If the signal controlling cycle is too short, signal phase switches comparatively frequent, and the current green time of corresponding each phase place is shorter, just may cause the increase of intersection parking number and vehicle start to walk frequently and stop.On the contrary, if signal controlling excessive cycle will cause the waits for too long of each phase place queuing vehicle so.For this reason, the designed signal controlling Cycle Length computing method of the present invention are as follows:
Step 1: signal controller receives the queue length that each vehicle is formed a team, QL
1(t), QL
2(t) ..., QL
8(t)
Step 2: calculate respectively the maximum vehicle queue length in East and West direction and north-south:
MAX_Q
1(t)=max{QL
1(t),QL
5(t),QL
2(t),QL
6(t)} （3）
MAX_Q
2(t)=max{QL
3(t),QL
7(t),QL
4(t),QL
8(t)} （4）
Wherein, MAX_Q
1(t) be East and West direction maximum queue length in cycle t; MAX_Q
2(t) be north-south maximum queue length in cycle t.
Step 3: the Cycle Length of estimating temporary needs
Wherein, R_CL
1(t) be the signal period length of East and West direction temporary needs in cycle t; R_CL
2(t) be the signal period length of north-south temporary needs in cycle t;
vehicle number in queuing up for East and West direction in cycle t is maximum;
vehicle number in queuing up for north-south in cycle t is maximum; H is time headway.
Step 4: calculate the Cycle Length needing
R_CL(t)=R_CL
1(t)+R_CL
2(t) （7）
Step 5: add red time and yellow time
R_CL(t)=R_CL(t)+intergreen_time （8）
intergreen_time=yellow_time+red_time （9）
Step 6: determine final signal period length
If, | R_CL (t)-CL (t) |≤Δ c, so the signal length CL in next cycle (t+1)=CL (t);
Otherwise, the signal length CL in next cycle (t+1)=R_CL (t).
Wherein, the signal period length change threshold value of Δ c for setting; CL (t) is the signal period length of cycle t.
(7) phase place green light timing algorithm
Once determine the signal controlling cycle, just can determine according to following algorithm the green time of each phase place:
Step 1: according to the step 3 of signal controlling computation of Period method in (6) joint, can obtain respectively in next cycle the East and West direction green time (GT that passes through
1=R_CL
1) and the current green time (GT in north-south (t)
2=R_CL
2(t)), thus obtaining total green time is:
GT=GT
1+GT
2 (10)
Step 2: estimate that the green time in each entrance driveway track accounts for the ratio of total green time
Wherein, R_GT
dfor the current green time of entrance driveway track D accounts for the ratio of total green time; V
d/ C
dthroughput ratio for entrance driveway track D.
Step 3: select corresponding green light phase place that pattern is set according to table 1;
Step 4: according to formula (11), determine the final green time in each entrance driveway track
GT
D=R_GT
D×GT (11)。
Claims (3)
1. the single-point cross junction signal lamp real-time control method based on car self-organization network, this method is based on car self-organization network, queuing vehicle to each entrance driveway track is formed a team, and select a certain vehicle as the correspondence with foreign country node of this car self-organization network, signal controller (1) the transmission vehicle queue length information by this vehicle to this signalized intersections signal lamp; Signal controller (1) completes the calculating of next signal control cycle length and the design of green light phase combination timing based on vehicle queue's information;
It is characterized in that the car self-organization network process of forming a team is as follows:
Step 1: after the current green time in this track finishes, start to form from the vehicle queue of this arrival crossing, track, the vehicle of each arrival is near the information that " leader " served as in request of vehicle broadcast; The content that this packets of information contains is: the id information of the time of sending of unique vehicle ID information, this information, the longitude and latitude position of vehicle and intersection signal controller (1); Other vehicle that receives this information does not generate the information of self, but again broadcasts the information that this receives;
Step 2: its information of broadcasting of the vehicle contrast of broadcast " leader " solicited message and received " leader " solicited message from other vehicle, then can, to sending an information than its more Zao vehicle that enters queuing, show oneself to abandon the application of " leader ";
Step 3: final definite vehicle form a team " leader " " election " result is sent to its member's vehicle, receive member's vehicle of " leader " information that vehicle sends, to " leader " vehicle, feed back an information as confirmation; When " leader " vehicle receives the feedback information from member's vehicle, its can send one to this member's vehicle accept it as the confirmation of member's vehicle; After member's vehicle receives the confirmation from " leader " vehicle, it will upgrade " leader " vehicle ID of self, and with " leader " share form a team in the information of other member's vehicle;
Step 4: the whole signal controlling except the green time of self is in the cycle, and " leader " vehicle all receives the information from its member's vehicle, and periodically queue length information is sent to signal controller (1);
Step 5: when the current green time of " leader " vehicle starts, it no longer receives any information from its member's vehicle, directly passes through crossing;
Step 6: after current green time finishes, repeating step 1 is to step 5.
2. the single-point cross junction signal lamp real-time control method based on car self-organization network according to claim 1, is characterized in that
The formula that vehicle queue length is estimated is as follows:
Wherein, RQL
d(t) represent the queue length of entrance driveway track D in current period t, D represents the coding in entrance driveway track, i.e. D=1, and 2 ..., 8; VL represents the average length of vehicle; ADBV represents the average headway between vehicle; N represents the vehicle number of forming a team;
" leader " vehicle, according to formula (1), calculates vehicle queue length, and this length is sent to signal controller; Signal controller, according to the vehicle queue length in current period and the first two cycle, adopts the mode of weighting, calculates final vehicle queue length QL
d(t), according to formula (2), calculate:
QL
D(t)=A×RQL
D(t)+B×RQL
D(t-1)+C×RQL
D(t-2） （2）
Wherein: A+B+C=1; A=RQL
d(t)/l
d; B=(1-A) * A; l
dthe length that represents import track D.
3. the single-point cross junction signal lamp real-time control method based on car self-organization network according to claim 2, is characterized in that signal controlling Cycle Length computing method are as follows:
Step 3.1: signal controller receives the queue length that each vehicle is formed a team, QL
1(t), QL
2(t) ..., QL
8(t);
Step 3.2: calculate respectively the maximum vehicle queue length in East and West direction and north-south:
MAX_Q
1(t)=max{QL
1(t),QL
5(t),QL
2(t),QL
6(t)} （3）
MAX_Q
2(t)=max{QL
3(t),QL
7(t),QL
4(t),QL
8(t)} （4）
Wherein, MAX_Q
1(t) be East and West direction maximum queue length in cycle t; MAX_Q
2(t) be north-south maximum queue length in cycle t;
Step 3.3: the Cycle Length of estimating temporary needs
Wherein, R_CL
1(t) be the signal period length of East and West direction temporary needs in cycle t; R_CL
2(t) be the signal period length of north-south temporary needs in cycle t;
for the vehicle number in East and West direction maximum queue length in cycle t;
for the vehicle number in north-south maximum queue length in cycle t; H is time headway;
Step 3.4: calculate the Cycle Length needing
R_CL(t)=R_CL
1(t)+R_CL
2(t) （7）
Step 3.5: add red time and yellow time
R_CL(t)=R_CL(t)+intergreen_time （8）
intergreen_time=yellow_time+red_time （9）
Step 3.6: determine final signal period length
If, | R_CL (t)-CL (t) |≤△ c, so signal period length C L (the t+1)=CL (t) in next cycle;
Otherwise, signal period length C L (the t+1)=R_CL (t) in next cycle;
Wherein, the signal period length change threshold value of △ c for setting; CL (t) is the signal period length of cycle t.
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| US10144428B2 (en) | 2016-11-10 | 2018-12-04 | Ford Global Technologies, Llc | Traffic light operation |
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| CN107085955A (en) * | 2016-08-25 | 2017-08-22 | 苏州华川交通科技有限公司 | Intersection signal timing designing method based on vehicle queue length |
| CN106875710B (en) * | 2017-01-24 | 2019-12-03 | 同济大学 | A kind of intersection self-organization control method towards net connection automatic driving vehicle |
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| CN109118797B (en) * | 2018-10-29 | 2021-11-23 | 百度在线网络技术（北京）有限公司 | Information sharing method, device, equipment and storage medium |
| CN109637141B (en) * | 2019-01-14 | 2020-11-03 | 杭州电子科技大学 | Dynamic timing traffic light control method based on breadth-first search |
| CN111275987B (en) * | 2020-01-21 | 2021-08-24 | 东南大学 | Automobile driving speed optimization method considering intersection queue influence |
| CN111554109B (en) * | 2020-04-21 | 2021-02-19 | 河北万方中天科技有限公司 | Signal timing method and terminal based on queuing length |
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