CN102867424B - Area coordinating traffic control method - Google Patents

Abstract

The invention relates to the field of traffic control, in particular to an area coordinating traffic control method. The area in the area coordinating traffic control method refers to a five-intersection area. The control method comprises the steps of collecting data through a detector, storing data through a database and processing data through a computer, and finally carrying out dynamic coordinating control on a traffic signal area, that is to say, lightening moments of the red and green lights of traffic lights are output and controlled. The control scheme has the advantages of optimized traffic time, high traffic efficiency and good application effect.

Description

A kind of regional coordination traffic control method

Technical field

The present invention relates to traffic control field, relate in particular to regional coordination traffic control method.

Background technology

After entering the nineties, along with the development of computer technology and automatic control technology, and the development of traffic flow theory is perfect, urban traffic control starts to informationization, intelligent direction development, adopt computing machine (crossing computing machine, region principal computer and control center's computing machine) networking control, according to the Real-Time Traffic Volume of crossing, traffic model and software by development are determined crossing traffic lights timing scheme, realize the timing optimization of whole traffic network, form at present multiple municipal intelligent traffic control system, as the SCOOT system of widespread use in practice, SCATS system.

By the research to China's urban transportation present situation, it is many-sided that discovery causes the reason of traffic congestion, there is the reason of roadnet itself, also there is the reason of the aspect such as traffic administration and control and urban land use exploitation, and crossing is as " throat " of traffic capacity in road net, traffic behavior is more complicated, subjects to be subject to the impact of traffic environment, the stream of people, wagon flow, be the multiple ground of traffic jam and accident, become " bottleneck " that affect Traffic Capacity of Urban Road.We need a kind of is the region control method of base unit taking crossing, coordinates to control the traffic lights of each crossing.

Also produced a lot of control methods in traffic control field at present, but mostly all too simple and mechanical.Such as; by the loop that is open to traffic being retrained under perfect condition; this loop retrains the computer data processing only ideal being open to traffic under state; there is no prerequisite and restriction; often can cause loop periphery and downstream wagon flow to be open to traffic extremely unreasonable; therefore to loop, constraint lacks overall treatment, is also a large reason that causes not having efficient available area traffic control method.Regional traffic control should be dynamic and static combination, do specific calculation for variety classes region, in actual life, region is very many, can not and bring good effect by the regional traffic control problem of all complexity of the disposable solution of a kind of universal method.Therefore being necessary territorial classification, such as a kind of region of five crossings as shown in Figure 1, is exactly in real road, to have region very widely.You Duotiao track, this region connects five crossing compositions, each crossing is the cross junction being made up of two mutual square crossings in track, wherein cross junction is regularly arranged, existing traffic control field is unequal to lifting to the control program of Single Intersection piece, but the control program to regional traffic is considerably less, especially for the region of above-mentioned these class five crossings.

In addition, existing traffic control method is all to calculate green light interval by Computer substantially, then transport in traffic lights, consider again rationality, be that green time can not selected to be less than 10 seconds, also can be greater than 60 seconds, in any case therefore control, considering aspect present rationality factor, green time scope is generally between 10-60 second.Therefore traffic control method is exactly generally in the scope between 10-60 second, further to retrain in green time scope, makes it reasonable.The span of existing green time is generally optimized at the mean value calculating between 10-60 second, this mean value immobilizes, not with vehicle flowrate, left-hand rotation rate lamp factors vary, this control method Consideration is few, it is static control method, do not consider the factor that is open to traffic of dynamic change, do not have the reasonable utilization data that are open to traffic dynamically to do further to optimize, the efficiency that causes being open to traffic is not high.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of regional coordination traffic control method, and this traffic control method is open to traffic the time by Traffic signal control optimization, improves the efficiency that is open to traffic in region.

The present invention solves the problems of the technologies described above, by the following technical solutions:

A kind of regional coordination traffic control method, You Duotiao track, described region connects five crossing compositions, each crossing is the cross junction being made up of two mutual square crossings in track, wherein four cross junctions are regularly arranged, and track connects first of four right-angled intersection interruption-forming groined types and controls subregion; Another crossing is the straight line extension in a track therein, in this crossing, orthogonal two crossings connect respectively two crossings on parallel track, two groups of upstreams, and another crossing is connected to form the second control subregion by two crossings on parallel track, two groups of Yu Qi upstreams, track;

Four bearing of trends of cross junction are respectively with A, C, B and D representative, and the intersection center of cross junction represents with O; In described cross junction, two tracks of square crossing are all back and forth two way zones mutually, wherein a track is to be kept straight on and keep straight on to the two way zone back and forth of A through O to B or by B through O by A, and another perpendicular track is to be kept straight on and keep straight on to the two way zone back and forth of C through O to D or by D through O by C;

Effective controlling party that there are 8 Vehicle Driving Cycles each crossing to, respectively:

With numeral 1 represent B drive towards controlling party that O place left-hand rotation drives towards D to,

With numeral 2 represent A drives towards B controlling party through O place craspedodrome to,

With numeral 3 represent D drive towards controlling party that O place left-hand rotation drives towards A to,

With numeral 4 represent C drives towards D controlling party through O place craspedodrome to,

With numeral 5 represent A drive towards controlling party that O place left-hand rotation drives towards C to,

With numeral 6 represent B drives towards A controlling party through O place craspedodrome to,

With numeral 7 represent C drive towards controlling party that O place craspedodrome drives towards B to,

With numeral 8 represent D drives towards C controlling party through O place craspedodrome to,

Above-mentioned 8 controlling parties are in respectively corresponding 8 phase places of control field, and the 1st phase place, the 2nd phase place, the 3rd phase place, the 4th phase place, the 5th phase place, the 6th phase place, the 7th phase place and the 8th phase place are respectively with above-mentioned 1,2,3,4,5,6,7 and 8 corresponding;

The required hardware of this coordination traffic control method comprises multiple detecting devices, many traffic signal controlling machines, regional coordinations control database server, regional coordination control computing machine, traffic lights; The control step of this coordination traffic control method is as follows:

(1) multiple detecting devices are installed respectively in above-mentioned five crossings, the collection of the detecting device that is arranged on crossing to day part traffic data, the traffic data collecting is sent to traffic signal controlling machine, and traffic signal controlling machine connects the traffic lights of each crossing;

(2) regional coordination that traffic signal controlling machine uploads to control center by Ethernet or GPRS network by the traffic data server of controlling database;

(3) traffic data that is arranged in the regional coordination control computing machine extraction database server of control center is processed and predicts;

According to the traffic flow data that gathers each time period, the transport need of calculating each phase place, i.e. flow rate, the calculation procedure of flow rate is as follows:

1. first detect the time headway at stop line place by the detecting device of each crossing;

2. the traffic flow data that gathers each time period is processed, calculated time headway, adopt h to represent average headway;

3. adopt v to represent transport need, i.e. flow rate, calculates flow rate by following formula:

$v=3600\frac{1}{h},$

Above-mentioned time headway in 1. refers in the time of start, the time interval between adjacent two car headstocks; Wherein v _iimplication be i ∈ 1,2 ..., the transport need of 8} phase place, the i.e. flow rate of i phase place;

4. detect and calculate the saturation volume rate of each crossing phase place, saturation volume rate represents with s;

The data that step ()～(three) gather and calculate comprise: the time gap that the route time data between each phase data, Adjacent Intersections, positive negative direction green wave band center start to each phase place green light, flow rate and the saturation volume rate data of each phase place;

(4) flow rate of each phase place calculating in (three) and saturation volume rate data are inputed to regional coordination control computing machine, regional coordination control computing machine is processed the dynamic flow rate in each moment and saturation volume rate data again, export the maximum green time of each crossing, maximum green time g ^maxrepresent the maximum green time g of each crossing ^maxspecifically comprise the maximum green time of the 1st phase place and the 5th phase place, the 2nd phase place and the 6th phase place, the 3rd phase place and the 7th phase place and the 4th phase place and the 8th phase place;

(5) above-mentioned maximum green time is retrained, constraint condition is:

If 10≤g ^max≤ 60, value g ^max; If g ^maxbe less than 10 seconds, get 10 seconds; If g ^maxbe greater than 60 seconds, get 60 seconds;

(6) determine region wherein a crossing for reference to crossing, the data that detect and calculate gained in step (three) are inputed to regional coordination control computing machine and carry out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine the cycle initial time of coordination phase place in crossing in region;

The cycle start time information of each crossing and each maximum green time information are delivered in the traffic signal controlling machine at crossing, traffic signal controlling machine is according to cycle initial time and maximum green time, carry out the control of dynamic traffic signals regional coordination, export and control the traffic lights bright light moment of each traffic lights.

Further, in described step (four), each maximum green time draws by following method processing:

$C=\frac{X_{d}L}{X_d-\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

Wherein:

X _dfor the crucial v/c ratio of expecting, X _dvalue is 0.9;

L is the total losses time in one-period, equals to be multiplied by lost time phase place number, and be 4 seconds lost time, and L equals to be multiplied by 4 phase places lost time, equals 16 seconds;

C is Cycle Length;

In step (four), saturation volume rate represents with s, wherein s _irefer to i ∈ in any one crossing 1,2 ..., 8} phase place saturation volume rate;

Use g ^maxrepresent maximum green time, wherein:

represent the maximum green time of the 1st phase place and the 5th phase place;

represent the maximum green time of the 2nd phase place and the 6th phase place;

represent the maximum green time of the 3rd phase place and the 7th phase place;

represent the maximum green time of the 4th phase place and the 8th phase place.

As preferably, in described step (four), each maximum green time draws by following method processing:

(1) determine phase sequence according to the left-hand rotation rate of each direction: according to left-hand rotation rate and threshold value k ₂relation, in two phase place sequence, three phase sequence a, three phase sequence b and four phase sequences, select and determine a phase sequence;

(2) calculate maximum green time: according to the flow rate of each phase place and saturation volume rate, and (1) determines selection definite phase sequence, just adopt corresponding formula to calculate the maximum green time of each phase place below, wherein two phase place sequence adopts following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+2+5+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+4+7+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Three phase sequence a adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+4+7+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Three phase sequence b adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+2+5+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Four phase sequences adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

Wherein, X _dfor the crucial v/c ratio of expecting, value is 0.9,

V _ibe i ∈ 1,2 ..., the transport need of 8} phase place;

S _ibe i ∈ 1,2 ..., the saturation volume rate of 8} phase place;

The total losses time in L one-period, equals to be multiplied by phase place number lost time, gets lost time 4 seconds, and phase place number is 4, here L=4*4=16 second;

C Cycle Length;

the maximum green time of phase place 1+2+5+6;

the maximum green time of phase place 3+4+7+8;

the maximum green time of phase place 1+5;

the maximum green time of phase place 2+6;

the maximum green time of phase place 3+7;

the maximum green time of phase place 4+8.

As preferably, the track that described many continuous first places join forms main line, and described region connects five crossings by 4 main lines and forms, and five crossings are respectively the 1st crossing, the 2nd crossing, the 3rd crossing, the 4th crossing and the 5th crossing; Article 4, main line is respectively: the 1st main line that connects successively the 1st crossing, the 2nd crossing, the 3rd crossing; Connect successively the 2nd main line of the 4th crossing, the 5th crossing, the 3rd crossing; Connect the 3rd main line of the 4th crossing, the 1st crossing; Connect the 4th main line of the 5th crossing, the 2nd crossing, on every main line, arrange by positive dirction crossing;

Wherein between the 1st crossing, the 2nd crossing, the 4th crossing and the 5th crossing, interconnective each track forms in the first control subregion, and the track that connects the 2nd crossing, the 5th crossing and the 3rd crossing forms second and controls subregion;

First controls in subregion:

The track that connects the 4th crossing with the 1st crossing is defined as section 14;

The track that connects the 5th crossing with the 4th crossing is defined as section 45;

The track that connects the 2nd crossing with the 5th crossing is defined as section 52;

The track that connects the 1st crossing with the 2nd crossing is defined as section 21;

Section 14, section 45, section 52 and section 21 form the first loop;

Second controls in subregion:

The track that connects the 5th crossing with the 2nd crossing is defined as section 25;

The track that connects the 3rd crossing with the 5th crossing is defined as section 53;

The track that connects the 2nd crossing with the 3rd crossing is defined as section 32;

Section 25, section 53 and section 32 form the second loop;

In described step (six), regional coordination control computing machine carries out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine that the cycle initial time of coordination phase place in crossing in region is to be undertaken by following two loop constrained procedures:

The loop constrained procedure of described the first loop is as follows:

(1) determine that constraint condition is as follows:

Will $\begin{array}{c}{\mathrm{\φ}}_{(a,2),(b.2)}+{\mathrm{\φ}}_{(b,2),(b,4)}+{\mathrm{\φ}}_{(b,4),(c,4)}+{\mathrm{\φ}}_{(c,4),(c,2)}\\ +{\mathrm{\φ}}_{(c,2),(d,2)}+{\mathrm{\φ}}_{(d,2),(d,4)}+{\mathrm{\φ}}_{(d,4),(a,4)}+{\mathrm{\φ}}_{(a,4),(a,2)}=I,\end{array}$ This formula is defined as A formula, wherein:

φ _{(a, 2), (b, 2)}be that the 2nd phase place of a crossing is to the phase differential of the 2nd phase place of b crossing;

φ _{(b, 2), (b, 4)}be that the 2nd phase place of b crossing is to the phase differential of the 4th phase place of b crossing;

φ _{(b, 4), (c, 4)}be that the 4th phase place of b crossing is to the phase differential of the 4th phase place of c crossing;

φ _{(c, 4), (c, 2)}be that the 4th phase place of c crossing is to the phase differential of the 2nd phase place of c crossing;

φ _{(c, 2), (d, 2)}be that the 2nd phase place of c crossing is to the phase differential of the 2nd phase place of d crossing;

φ _{(d, 2), (d, 4}) be that the 2nd phase place of d crossing is to the phase differential of the 4th phase place of d crossing;

φ _{(d, 4), (a, 4)}be that the 4th phase place of d crossing is to the phase differential of the 4th phase place of a crossing;

φ _{(a, 4), (a, 2)}be that the 4th phase place of a crossing is to the phase differential of the 2nd phase place of a crossing;

The value of above-mentioned I is integer;

Wherein a, b, c and d get respectively one of them numeral in 1,2,4 and 5, but will ensure to have upstream and downstream relation between a and b, b and c, c and d and d and a, are all adjacent crossings in the first loop section;

φ _{(a,2)，(b，2)}=(t _ab+0.5γ _a,2L _a-0.5γ _b,2L _b)z+w _a,2-w _b,2+0.5(γ _b,2-γ _a,2)-I ₁,

φ _{(b，4)，(c，4)}=(t _bc+0.5γ _b,4L _b-0.5γ _c,4L _c)z+w _b,4-w _c,4+0.5(γ _c,4-γ _b,4)-I ₂,

φ _{(c，2),(d，2)}=(t _cd+0.5γ _b,2L _d-0.5γ _c,2L _c)z+v _d，2-v _c，2+0.5(γ _d,2-γ _c,2)-I ₃,

φ _{(d, 4), (a, 4)}=(t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4})-I ₄, this formula group is B formula group, wherein:

Z refers to the inverse in cycle, is the unknown quantity that needs restraint and calculate in above-mentioned formula;

T _abit is the route time of a crossing to b crossing;

T _bcit is the route time of b crossing to c crossing;

T _cdit is the route time of c crossing to d crossing;

T _dait is the route time of d crossing to a crossing;

γ _{a, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{b, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{c, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of d crossing of d crossing;

γ _{c, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{a, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{d, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of d crossing of d crossing;

L _a, L _b, L _cand L _din one-period, for a crossing, b crossing, all phase places in c crossing and d crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _a, L _b, L _cand L _dall equate and value 16 seconds;

W _{a, 2}be the forward green wave band position of the 2nd phase place of a crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 2}be the forward green wave band position of the 2nd phase place of b crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 4}be the forward green wave band position of the 4th phase place of b crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

W _{c, 4}be the forward green wave band position of the 4th phase place of c crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{d, 2}refer to the reverse green wave band position of the 2nd phase place of d crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{c, 2}refer to the reverse green wave band position of the 2nd phase place of c crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{a, 4}refer to the reverse green wave band position of the 4th phase place of a crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{d, 4}refer to the reverse green wave band position of the 4th phase place of d crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₁refer to the most approaching but be less than (t _ab+ 0.5 γ _{a, 2}l _a-0.5 γ _{b, 2}l _b) z+w _{a, 2}-w _{b, 2}+ 0.5 (γ _{b, 2}-γ _{a, 2}) value integer;

I ₂refer to the most approaching but be less than (t _bc+ 0.5 γ _{b, 4}l _b-0.5 γ _{c, 4}l _c) z+w _{b, 4}-w _{c, 4}+ 0.5 (γ _{c, 4}-γ _{b, 4}) value integer;

I ₃refer to the most approaching but be less than (t _cd+ 0.5 γ _{d, 2}l _d-0.5 γ _{c, 2}l _c) z+v _{d, 2}-v _{c, 2}+ 0.5 (γ _{d, 2}-γ _{c, 2}) value integer;

I ₄refer to the most approaching but be less than (t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4}) value integer;

(3) determine equation

${\mathrm{\φ}}_{(a,4)(a,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)({\mathrm{\γ}}_{a,1}-{\mathrm{\γ}}_{a,1}{L}_{a}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,2}{L}_{a}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{a,4}+{\mathrm{\γ}}_{a,4}{L}_{a}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),$

${\mathrm{\φ}}_{(b,2)(b,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)({\mathrm{\γ}}_{b,3}-{\mathrm{\γ}}_{b,3}{L}_{b}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,2}{L}_{b}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,4}+{\mathrm{\γ}}_{b,4}{L}_{b}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),$

${\mathrm{\φ}}_{(c,4)(c,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)({\mathrm{\γ}}_{c,1}-{\mathrm{\γ}}_{c,1}{L}_{c}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,2}{L}_{c}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,4}+{\mathrm{\γ}}_{c,4}{L}_{c}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),$

${\mathrm{\φ}}_{(d,2)(d,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)({\mathrm{\γ}}_{d,3}-{\mathrm{\γ}}_{d,3}{L}_{d}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d2}+{\mathrm{\γ}}_{d,2}{L}_{d}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d,4}+{\mathrm{\γ}}_{d,4}{L}_{d}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(a,4)(a,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),$

${\mathrm{\φ}}_{(b,2)(b,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),$

${\mathrm{\φ}}_{(c,4)(c,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),$

${\mathrm{\φ}}_{(d,2)(d,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),$

This formula group is defined as to C formula group, wherein:

φ _{(a, 2), (a, 4)}be that the 2nd phase place of a crossing is to the phase differential of the 4th phase place of a crossing;

T _lrefer to the lost time of a phase place, get here 4 seconds;

γ _{a, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of d crossing of b crossing;

γ _{c, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of c crossing of d crossing;

(4) by B formula group and C formula group substitution A formula, draw loop constraint formulations:

(4t _L+t _ab-γ _b,2L _b+t _bc-γ _c,4L _c+t _cd-γ _c,2L _c+t _da-γ _d,4L _d

+λ(γ _a,1)(-γ _a,1L _a+t _L)+λ(γ _b,3)(-γ _b,3L _b+t _L)

+λ(γ _c,1)(-γ _c,1L _c+t _L)+λ(γ _d,3)(-γ _d,3L _b+t _L))z

+w _a,2-w _b,2+w _b,4-w _c,4-v _c,2+v _d,2-v _d,4+v _a,4-I

=-γ _b,2-γ _c,4-γ _c,2-γ _d,4-λ(γ _a,1)γ _a,1-λ(γ _b,3)γ _b,3-λ(γ _c,1)γ _c,1-λ(γ _d,3)γ _d，3，

(5) data input area detected in the data that step described in claim 1 ()～(three) gather and calculate is coordinated to control computing machine, recycling loop constraint formulations, calculate in the first control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing;

The loop constrained procedure of described the second loop is as follows:

(I). will $\begin{array}{c}{\mathrm{\φ}}_{(e,2),(f,4)}+{\mathrm{\φ}}_{(f,4),(f,2)}+{\mathrm{\φ}}_{(f,2),(g,2)}+{\mathrm{\φ}}_{(g,2),(g,4)}\\ +{\mathrm{\φ}}_{(g,4),(e,4)}+{\mathrm{\φ}}_{(e,4),(e,2)}=I,\end{array}$ Formula is defined as E formula, wherein:

φ _{(e, 2), (f, 2)}be that the 2nd phase place of e crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 4), (f, 2)}be that the 4th phase place of f crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 2), (g, 2)}be that the 2nd phase place of f crossing is to the phase differential of the 2nd phase place of g crossing;

φ _{(g, 2), (g, 4)}be that the 2nd phase place of g crossing is to the phase differential of the 4th phase place of g crossing;

φ _{(g, 4), (e, 4)}be that the 4th phase place of g crossing is to the phase differential of the 4th phase place of e crossing;

φ _{(e, 4), (e, 2)}be that the 4th phase place of e crossing is to the phase differential of the 2nd phase place of e crossing;

(II) can obtain according to A formula:

$\begin{array}{c}{\mathrm{\φ}}_{(e,2),(f,4)}=(t_{\mathrm{ef}}+0.5{\mathrm{\γ}}_{e,2}{L}_e-0.5{\mathrm{\γ}}_{f,4}{L}_f)z+w_{e,2}-w_{f,4}+0.5({\mathrm{\γ}}_{f,4}-{\mathrm{\γ}}_{e,2})-I_5,\\ {\mathrm{\φ}}_{(f,2),(g,2)}=(t_{\mathrm{fg}}+0.5{\mathrm{\γ}}_{g,2}{L}_g-0.5{\mathrm{\γ}}_{f,2}{L}_f)z+v_{g,2}-v_{f,2}+0.5({\mathrm{\γ}}_{g,2}-{\mathrm{\γ}}_{f,2})-I_6,\\ {\mathrm{\φ}}_{(g,4),(e,4)}=(t_{\mathrm{ge}}+0.5{\mathrm{\γ}}_{e,4}{L}_e-0.5{\mathrm{\γ}}_{g,4}{L}_g)z+v_{e,4}-v_{g,4}+0.5({\mathrm{\γ}}_{g,4}-{\mathrm{\γ}}_{e,4})-I_7,\end{array}$ This formula group is F formula group, wherein:

T _efbe the route time of e crossing to f crossing, unit is second;

T _fgbe the route time of f crossing to g crossing, unit is second;

T _gebe the route time of g crossing to e crossing, unit is second;

γ _{e, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{f, 4}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing;

γ _{g, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of g crossing of g crossing;

γ _{f, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing;

γ _{e, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{g, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of g crossing of g crossing;

L _e, L _fand L _din one-period, for e crossing, all phase places in f crossing and g crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _e, L _fand L _dall equal and value is 16 seconds;

W _{e, 2}be the forward green wave band position of the 2nd phase place of e crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{f, 4}be the forward green wave band position of the 4th phase place of f crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{g, 2}be the reverse green wave band position of the 2nd phase place of g crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights start;

V _{f, 2}be the reverse green wave band position of the 4th phase place of f crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights start;

V _{e, 4}refer to the reverse green wave band position of the 4th phase place of e crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{g, 4}refer to the reverse green wave band position of the 4th phase place of g crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₅refer to the most approaching but be less than (t _ef+ 0.5 γ _{e, 2}l _e-0.5 γ _{f, 4}l _f) z+w _{e, 2}-w _{f, 4}+ 0.5 (γ _{f, 4}-γ _{e, 2}) value integer;

I ₆refer to the most approaching but be less than (t _fg+ 0.5 γ _{g, 2}l _g-0.5 γ _{f, 2}l _f) z+v _{g, 2}-v _{f, 2}+ 0.5 (γ _{g, 2}-γ _{f, 2}) value integer;

I ₇refer to the most approaching but be less than (t _ge+ 0.5 γ _{e, 4}l _e-0.5 γ _{g, 4}l _g) z+v _{e, 4}-v _{g, 4}+ 0.5 (γ _{g, 4}-γ _{e, 4}) value integer;

(III) determines equation

${\mathrm{\φ}}_{(e,4)(e,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)({\mathrm{\γ}}_{e,1}-{\mathrm{\γ}}_{e,1}{L}_{e}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,2}{L}_{e}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,4}+{\mathrm{\γ}}_{e,4}{L}_{e}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),$

${\mathrm{\φ}}_{(f,4)(f,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)({\mathrm{\γ}}_{f,1}-{\mathrm{\γ}}_{f,1}{L}_{f}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,2}{L}_{f}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,4}+{\mathrm{\γ}}_{f,4}{L}_{f}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),$

${\mathrm{\φ}}_{(g,2)(g,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)({\mathrm{\γ}}_{g,3}-{\mathrm{\γ}}_{g,3}{L}_{g}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,2}{L}_{g}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,4}+{\mathrm{\γ}}_{g,4}{L}_{g}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)(-{\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(f,4)(f,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),$

${\mathrm{\φ}}_{(g,2)(g,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)(-{\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),$

${\mathrm{\φ}}_{(e,4)(e,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),$

This formula group is defined as G formula group, wherein:

γ _{e, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{e, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{e, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{f, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of f crossing;

γ _{g, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of g crossing of g crossing;

(IV), by F formula group and G formula group substitution E formula, draws loop constraint formulations:

（3t _L+t _ef-γ _f,2L _f+t _fg-γ _g,4L _g-γ _g,2L _g

+λ(γ _e,1)(-γ _e,1L _e+t _L)+λ(γ _f,3)(-γ _f,3L _f+t _L)

+λ(γ _g,1)(-γ _g,1L _g+t _L))z

+w _e,2-w _f,2+w _f,4-w _g,4-v _g,2+v _e,4-I

=-γ _f,2-γ _g,4-γ _g,2-λ(γ _e,1)γ _e,1-λ(γ _f,3)γ _f,3-λ(γ _g,1)γ _g,1;

(V) coordinates to control computing machine by data input area detected step described in claim 1 (1), the loop constraint formulations of recycling step (IV), calculate in the second control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing in the second control area.

Adopt a kind of regional coordination traffic control method of such scheme design, it is the coordination traffic control method of making for five regions, crossing described in scheme, this traffic control method according to reasonable green time of the prior art as restriction, make maximum green time be no less than 10 seconds, be not more than 60 seconds, further calculate maximum green time between 10-60 second by dynamic detection data, restriction green time.Simultaneously, according to dynamic detection data, in calculative determination region, the cycle initial time of phase place is coordinated in crossing, maximum green time information out of dynamic calculation and cycle start time information are inputed to computer integrated and draw the control program of optimization, finally control the traffic lights bright light moment of each traffic lights.This traffic control method and existing traffic control method, difference be for five crossings of extensive existence but with, be taking detection data dynamic, that consider more detection factors as basis with the phase data of crossing, by computing information processing, the signal lamp bright light data that output is optimized, finally control the traffic lights bright light moment of outside each traffic lights.Therefore the advantage of this control program is: optimize be open to traffic time, the efficiency that is open to traffic high, effect is good.

Brief description of the drawings

Fig. 1 be the present invention based on 5 region, crossing exemplary construction schematic diagram;

Fig. 2 is the schematic diagram of the phase place definition of the systematic nomenclature of the signal phase of National Electrical Manufacturers Association (National Electrical Manufacturers Association, NEMA) formulation and publication;

Fig. 3 is two phase place sequence schematic diagram;

Fig. 4 is three phase sequence a schematic diagram;

Fig. 5 is three phase sequence b schematic diagram;

Fig. 6 is four phase sequence schematic diagram;

Fig. 7 is loop constraint schematic diagram;

Fig. 8 is from phase differential schematic diagram;

Fig. 9 is cycle initial time differential intention;

Figure 10 is phase differential and the poor schematic diagram that is related to of phase place green light initial time;

Figure 11 is the process flow diagram of determining phase sequence according to the left-hand rotation rate of each direction.

Embodiment

In conjunction with above-mentioned accompanying drawing, technical scheme of the present invention to be described in further detail below:

Embodiment 1:

A kind of regional coordination traffic control method, as shown in Figure 1 this traffic control method for region connect five crossings by many tracks and form, each crossing is the cross junction being made up of two mutual square crossings in track, and wherein cross junction is regularly arranged.Many the track formation main lines that continuous first place joins, this region is made up of five crossings of 4 main lines connections.Five crossings are respectively the 1st crossing, the 2nd crossing, the 3rd crossing, the 4th crossing and the 5th crossing, track connects first of four right-angled intersection interruption-forming groined types and controls subregion, and between the 1st crossing, the 2nd crossing, the 4th crossing and the 5th crossing wherein, interconnective each track forms first and controls in subregion.Another crossing is the straight line extension in a track therein, in this crossing, orthogonal two crossings connect respectively two crossings on parallel track, two groups of upstreams, another crossing is connected to form the second control subregion by two crossings on parallel track, two groups of Yu Qi upstreams, track, and the track that connects the 2nd crossing, the 5th crossing and the 3rd crossing forms second and controls subregion.

Control in subregion above-mentioned first:

Taking the 1st crossing as starting point, the track that connects the 4th crossing is defined as section 14;

Taking the 4th crossing as starting point, the track that connects the 5th crossing is defined as section 45;

Taking the 5th crossing as starting point, the track that connects the 2nd crossing is defined as section 52;

Taking the 2nd crossing as starting point, the track that connects the 1st crossing is defined as section 21;

Section 14, section 45, section 52 and section 21 form the first loop.

Control in subregion above-mentioned second:

Taking the 2nd crossing as starting point, the track that connects the 5th crossing is defined as section 25;

Taking the 5th crossing as starting point, the track that connects the 3rd crossing is defined as section 53;

Taking the 3rd crossing as starting point, the track that connects the 2nd crossing is defined as section 32;

Section 25, section 53 and section 32 form the second loop.

Above-mentioned 4 articles of main lines are respectively: the 1st main line that connects successively the 1st crossing, the 2nd crossing, the 3rd crossing; Connect successively the 2nd main line of the 4th crossing, the 5th crossing, the 3rd crossing; Connect the 3rd main line of the 4th crossing, the 1st crossing; Connect the 4th main line of the 5th crossing, the 2nd crossing, on every main line, arrange by positive dirction crossing.

Four of each cross junction bearing of trends are respectively with A, C, B and D representative as shown in Figure 2, and the intersection center of cross junction represents with O.In cross junction, two tracks of square crossing are all back and forth two way zones mutually, wherein a track is to be kept straight on and keep straight on to the two way zone back and forth of A through O to B or by B through O by A, and another perpendicular track is to be kept straight on and keep straight on to the two way zone back and forth of C through O to D or by D through O by C.

Effective controlling party that there are 8 Vehicle Driving Cycles each crossing to, respectively:

With numeral 1 represent B drive towards controlling party that O place left-hand rotation drives towards D to,

With numeral 2 represent A drives towards B controlling party through O place craspedodrome to,

With numeral 3 represent D drive towards controlling party that O place left-hand rotation drives towards A to,

With numeral 4 represent C drives towards D controlling party through O place craspedodrome to,

With numeral 5 represent A drive towards controlling party that O place left-hand rotation drives towards C to,

With numeral 6 represent B drives towards A controlling party through O place craspedodrome to,

With numeral 7 represent C drive towards controlling party that O place craspedodrome drives towards B to,

With numeral 8 represent D drives towards C controlling party through O place craspedodrome to,

Above-mentioned 8 controlling parties are to distinguish corresponding 8 phase places at control field, the 1st phase place, the 2nd phase place, the 3rd phase place, the 4th phase place, the 5th phase place, the 6th phase place, the 7th phase place and the 8th phase place are respectively with above-mentioned 1,2,3,4,5,6,7 and 8 corresponding, define above-mentioned letter and parameter, be convenient to statement and the calculating of following control.

The required hardware of this coordination traffic control method comprises multiple detecting devices, many traffic signal controlling machines, regional coordinations control database server, regional coordination control computing machine, traffic lights (being traffic lights).The control step of this coordination traffic control method is as follows:

(1) multiple detecting devices are installed respectively in above-mentioned five crossings, the collection of the detecting device that is arranged on crossing to day part traffic data, the traffic data collecting is sent to traffic signal controlling machine, and traffic signal controlling machine connects the traffic lights of each crossing.Be generally the collection to day part traffic data of detecting device by being arranged on upstream crossing, the traffic data collecting is sent to traffic signal controlling machine, in the time installing and using first, also must measure the road section length between 2 crossings, be stored in regional coordination and control database in server.Crossing, upstream refers to the crossing of direction to the car upstream, current control crossing, and the data result of calculation of its collection is conventional to control current crossing.If desired, the meeting of the detecting device of upstream crossing and current crossing are jointly detected data and are gathered.

(2) traffic signal controlling machine is the embedded control chip using STM32F103ZE as main control unit, and it comprises: system initialization module, control processing module, Communications Processor Module, system detection module, data acquisition module, data processing module, demonstration and change control parameter module, system primary module.

The regional coordination that traffic signal controlling machine uploads to control center by Ethernet or GPRS network by the traffic data server of controlling database.Consider the difference in the infrastructure construction of different cities, Ethernet has not been buried in some city underground, can upload the data to the regional coordination server of controlling database by GPRS module, and the GPRS module of employing is emerging MG2639 in ZTE.

(3) the regional coordination control computing machine that is arranged in control center extracts the control database traffic data of server of regional coordination and processes and predict.

According to the traffic flow data that gathers each time period, the transport need of calculating each phase place, i.e. flow rate, the calculation procedure of flow rate is as follows:

1. first detect the time headway at stop line place by the detecting device of each crossing;

2. the traffic flow data that gathers each time period is processed, calculated time headway, adopt h to represent average headway;

3. adopt v to represent transport need, i.e. flow rate, calculates flow rate by following formula:

$v=3600\frac{1}{h},$

For example, the average headway of wagon flow is 2 seconds, and the flow rate of this wagon flow is 1800/hour (3600 seconds/hour × 0.5/second) so.

Above-mentioned time headway in 1. refers in the time of start, the time interval between adjacent two car headstocks; Wherein v _iimplication be i ∈ 1,2 ..., the transport need of 8} phase place, the i.e. flow rate of i phase place.

4. detect and calculate the saturation volume rate of each crossing phase place, saturation volume rate represents with s, specifically first records the saturation headway at stop line place, then utilizes saturation headway to converse saturation volume rate.

The data that step ()～(three) gather and calculate comprise: the time gap that the route time data between each phase data, Adjacent Intersections, positive negative direction green wave band center start to each phase place green light, flow rate and the saturation volume rate data of each phase place.

(4) flow rate of each phase place calculating in (three) and saturation volume rate data are inputed to regional coordination control computing machine, regional coordination control computing machine is processed the dynamic flow rate in each moment and saturation volume rate data again, export the maximum green time of each crossing, maximum green time draws by following method processing:

$C=\frac{X_{d}L}{X_d-\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

Wherein:

X _dfor the crucial v/c ratio of expecting, X _dvalue is 0.9;

L is the total losses time in one-period, equals to be multiplied by lost time phase place number, and be 4 seconds lost time, and L equals to be multiplied by 4 phase places lost time, equals 16 seconds;

C is Cycle Length;

In step (three), saturation volume rate represents with s, wherein s _irefer to i ∈ in any one crossing 1,2 ..., 8} phase place saturation volume rate;

Use g ^maxrepresent maximum green time, specifically:

represent the maximum green time of the 1st phase place and the 5th phase place;

represent the maximum green time of the 2nd phase place and the 6th phase place;

represent the maximum green time of the 3rd phase place and the 7th phase place;

represent the maximum green time of the 4th phase place and the 8th phase place.

Wherein above-mentioned v/c ratio, is also called critical v/c ratio, reflects the load capacity of whole signalized intersections to current transport need, can calculate with following formula

$v/c=\frac{v}{s(1-\frac{L}{C})}$

Wherein, v/c is v/c ratio,

V is current transport need, and the vehicle arrival rate of whole crossing, can use following formula approximate treatment

$v=\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4}),$

V _ibe the flow rate of i track group,

The saturation volume rate of the whole crossing of s, can calculate with following formula

$s=\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (s_i,s_{i+4}),$

S _ibe the saturation volume rate of i track group,

The L total losses time,

C current period length.

(5) above-mentioned maximum green time is retrained, constraint condition is:

If 10≤g ^max≤ 60, value g ^max; If g ^maxbe less than 10 seconds, get 10 seconds; If g ^maxbe greater than 60 seconds, get 60 seconds.

(6) determine region wherein a crossing for reference to crossing, the data that detect and calculate gained in step (three) are inputed to regional coordination control computing machine and carry out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine the cycle initial time of coordination phase place in crossing in region.Determine that crossing in region coordinates the cycle initial time of phase place and specifically undertaken by following two loop constrained procedures:

The loop constrained procedure of the first loop is as follows:

(1) determine that constraint condition is as follows:

Will $\begin{array}{c}{\mathrm{\φ}}_{(a,2),(b.2)}+{\mathrm{\φ}}_{(b,2),(b,4)}+{\mathrm{\φ}}_{(b,4),(c,4)}+{\mathrm{\φ}}_{(c,4),(c,2)}\\ +{\mathrm{\φ}}_{(c,2),(d,2)}+{\mathrm{\φ}}_{(d,2),(d,4)}+{\mathrm{\φ}}_{(d,4),(a,4)}+{\mathrm{\φ}}_{(a,4),(a,2)}=I,\end{array}$ This formula is defined as A formula, wherein:

φ _{(a, 2), (b, 2)}be that the 2nd phase place of a crossing is to the phase differential of the 2nd phase place of b crossing;

φ _{(b, 2), (b, 4)}be that the 2nd phase place of b crossing is to the phase differential of the 4th phase place of b crossing;

φ _{(b, 4), (c, 4)}be that the 4th phase place of b crossing is to the phase differential of the 4th phase place of c crossing;

φ _{(c, 4), (c, 2)}be that the 4th phase place of c crossing is to the phase differential of the 2nd phase place of c crossing;

φ _{(c, 2), (d, 2)}be that the 2nd phase place of c crossing is to the phase differential of the 2nd phase place of d crossing;

φ _{(d, 2), (d, 4)}be that the 2nd phase place of d crossing is to the phase differential of the 4th phase place of d crossing;

φ _{(d, 4), (a, 4)}be that the 4th phase place of d crossing is to the phase differential of the 4th phase place of a crossing;

φ _{(a, 4), (a, 2)}be that the 4th phase place of a crossing is to the phase differential of the 2nd phase place of a crossing;

The value of above-mentioned I is integer;

Wherein a, b, c and d get respectively one of them numeral in 1,2,4 and 5, but will ensure to have upstream and downstream relation between a and b, b and c, c and d and d and a, are all adjacent crossings in the first loop section.As shown in Figure 7, obtained by A formula:

φ _{(a，2)，(b，2)}=(t _ab+0.5γ _a,2L _a-0.5γ _b,2L _b)z+w _a,2-w _b,2+0.5(γ _b,2-γ _a,2)-I ₁,

φ _{(b，4)，(c，4)}=(t _bc+0.5γ _b,4L _b-0.5γ _c,4L _c)z+w _b,4-w _c,4+0.5(γ _c,4-γ _b,4)-I ₂,

φ _{(c，2)，(d，2)}=(t _cd+0.5γ _d,2L _d-0.5γ _c,2L _c)z+v _d，2-v _c，2+0.5(γ _d,2-γ _c,2)-I ₃,

φ _{(d, 4), (a, 4)}=(t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4})-I ₄, this formula group is B formula group, wherein:

Z refers to the inverse in cycle, is the unknown quantity that needs restraint and calculate in above-mentioned formula;

T _abit is the route time of a crossing to b crossing;

T _bcit is the route time of b crossing to c crossing;

T _cdit is the route time of c crossing to d crossing;

T _dait is the route time of d crossing to a crossing;

γ _{a, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{b, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{c, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of d crossing of d crossing;

γ _{c, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{a, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{d, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of d crossing of d crossing;

L _a, L _b, L _cand L _din one-period, for a crossing, b crossing, all phase places in c crossing and d crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _a, L _b, L _cand L _dall equal and value is 4*4=16 second;

W _{a, 2}be the forward green wave band position of the 2nd phase place of a crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 2}be the forward green wave band position of the 2nd phase place of b crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 4}be the forward green wave band position of the 4th phase place of b crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

W _{c, 4}be the forward green wave band position of the 4th phase place of c crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{d, 2}refer to the reverse green wave band position of the 2nd phase place of d crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{c, 2}refer to the reverse green wave band position of the 2nd phase place of c crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{a, 4}refer to the reverse green wave band position of the 4th phase place of a crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{d, 4}refer to the reverse green wave band position of the 4th phase place of d crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₁refer to the most approaching but be less than (t _ab+ 0.5 γ _{a, 2}l _a-0.5 γ _{b, 2}l _b) z+w _{a, 2}-w _{b, 2}+ 0.5 (γ _{b, 2}-γ _{a, 2}) value integer;

I ₂refer to the most approaching but be less than (t _bc+ 0.5 γ _{b, 4}l _b-0.5 γ _{c, 4}l _c) z+w _{b, 4}-w _{c, 4}+ 0.5 (γ _{c, 4}-γ _{b, 4}) value integer;

I ₃refer to the most approaching but be less than (t _cd+ 0.5 γ _{d, 2}l _d-0.5 γ _{c, 2}l _c) z+v _{d, 2}-v _{c, 2}+ 0.5 (γ _{d, 2}-γ _{c, 2}) value integer;

I ₄refer to the most approaching but be less than (t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4}) value integer.

(3) with reference to figure 8, determine equation

${\mathrm{\φ}}_{(a,4)(a,2)}=1+t_{L}z+\mathrm{\λ}\left(g_{a,1}\right)(g_{a,1}+t_{L}z)-\frac{1}{2}{r}_{a,2}-\frac{1}{2}{r}_{a,4}$

$=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)({\mathrm{\γ}}_{a,1}-{\mathrm{\γ}}_{a,1}{L}_{a}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,2}{L}_{a}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{a,4}+{\mathrm{\γ}}_{a,4}{L}_{a}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),$

${\mathrm{\φ}}_{(b,2)(b,4)}=1+t_{L}z+\mathrm{\λ}\left(g_{b,3}\right)(g_{b,3}+t_{L}z)-\frac{1}{2}{r}_{b,2}-\frac{1}{2}{r}_{b,4}$

$=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)({\mathrm{\γ}}_{b,3}-{\mathrm{\γ}}_{b,3}{L}_{b}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,2}{L}_{b}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,4}+{\mathrm{\γ}}_{b,4}{L}_{b}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),$

${\mathrm{\φ}}_{(c,4)(c,2)}=1+t_{L}z+\mathrm{\λ}\left(g_{c,1}\right)(g_{c,1}+t_{L}z)-\frac{1}{2}{r}_{c,2}-\frac{1}{2}{r}_{c,4}$

$=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)({\mathrm{\γ}}_{c,1}-{\mathrm{\γ}}_{c,1}{L}_{c}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,2}{L}_{c}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,4}+{\mathrm{\γ}}_{c,4}{L}_{c}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),$

${\mathrm{\φ}}_{(d,2)(=d,4)}=1+t_{L}z+\mathrm{\λ}\left(g_{d,3}\right)(g_{d,3}+t_{L}z)-\frac{1}{2}{r}_{d,2}-\frac{1}{2}{r}_{d,4}$

$=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)({\mathrm{\γ}}_{d,3}-{\mathrm{\γ}}_{d,3}{L}_{d}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d2}+{\mathrm{\γ}}_{d,2}{L}_{d}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d,4}+{\mathrm{\γ}}_{d,4}{L}_{d}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(a,4)(a,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),$

${\mathrm{\φ}}_{(b,2)(b,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),$

${\mathrm{\φ}}_{(c,4)(c,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),$

${\mathrm{\φ}}_{(d,2)(d,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),$

This formula group is defined as to C formula group, wherein:

φ _{(a, 2), (a, 4)}be that the 2nd phase place of a crossing is to the phase differential of the 4th phase place of a crossing;

T _lrefer to the lost time of a phase place, get here 4 seconds;

γ _{a, 1}be the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of a crossing of a crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{b, 3}be the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of d crossing of b crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{c, 1}be the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of c crossing of c crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{d, 3}be the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of c crossing of d crossing, obtained by the historical data statistics of above-mentioned detection.

(4) by B formula group and C formula group substitution A formula, draw loop constraint formulations:

(4t _L+t _ab-γ _b,2L _b+t _bc-γ _c,4L _c+t _cd-γ _c,2L _c+t _da-γ _d,4L _d

+λ(γ _a,1)(-γ _a,1L _a+t _L)+λ(γ _b,3)(-γ _b,3L _b+t _L)

+λ(γ _c,1)(-γ _c,1L _c+t _L)+λ(γ _d,3)(-γ _d,3L _b+t _L))z

+w _a,2-w _b,2+w _b,4-w _c,4-v _c,2+v _d,2-v _d,4+v _a,4-I

=-γ _b,2-γ _c,4-γ _c,2-γ _d,4-λ(γ _a,1)γ _a,1-λ(γ _b,3)γ _b,3-λ(γ _c,1)γ _c,1-λ(γ _d,3)γ _d，3。

(5) in step (), detected data input area coordinates to control computing machine, recycling loop constraint formulations, calculate in the first control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing.

In like manner, the loop constrained procedure of the second loop is as follows:

(I). will $\begin{array}{c}{\mathrm{\φ}}_{(e,2),(f,4)}+{\mathrm{\φ}}_{(f,4),(f,2)}+{\mathrm{\φ}}_{(f,2),(g,2)}+{\mathrm{\φ}}_{(g,2),(g,4)}\\ +{\mathrm{\φ}}_{(g,4),(e,4)}+{\mathrm{\φ}}_{(e,4),(e,2)}=I,\end{array}$ Formula is defined as E formula, wherein:

φ _{(e, 2), (f, 2)}be that the 2nd phase place of e crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 4), (f, 2)}be that the 4th phase place of f crossing is to the phase differential of the 4th phase place of f crossing;

φ _{(f, 2), (g, 2)}be that the 2nd phase place of f crossing is to the phase differential of the 2nd phase place of g crossing;

φ _{(g, 2), (g, 4)}be that the 2nd phase place of g crossing is to the phase differential of the 4th phase place of g crossing;

φ _{(g, 4), (e, 4)}be that the 4th phase place of g crossing is to the phase differential of the 4th phase place of e crossing;

φ _{(e, 4), (e, 2)}be that the 4th phase place of e crossing is to the phase differential of the 2nd phase place of e crossing;

(II) can obtain according to A formula:

$\begin{array}{c}{\mathrm{\φ}}_{(e,2),(f,4)}=(t_{\mathrm{ef}}+0.5{\mathrm{\γ}}_{e,2}{L}_e-0.5{\mathrm{\γ}}_{f,4}{L}_f)z+w_{e,2}-w_{f,4}+0.5({\mathrm{\γ}}_{f,4}-{\mathrm{\γ}}_{e,2})-I_5,\\ {\mathrm{\φ}}_{(f,2),(g,2)}=(t_{\mathrm{fg}}+0.5{\mathrm{\γ}}_{g,2}{L}_g-0.5{\mathrm{\γ}}_{f,2}{L}_f)z+v_{g,2}-v_{f,2}+0.5({\mathrm{\γ}}_{g,2}-{\mathrm{\γ}}_{f,2})-I_6,\\ {\mathrm{\φ}}_{(g,4),(e,4)}=(t_{\mathrm{ge}}+0.5{\mathrm{\γ}}_{e,4}{L}_e-0.5{\mathrm{\γ}}_{g,4}{L}_g)z+v_{e,4}-v_{g,4}+0.5({\mathrm{\γ}}_{g,4}-{\mathrm{\γ}}_{e,4})-I_7,\end{array}$ This formula group is F formula group, wherein:

T _efbe the route time of e crossing to f crossing, unit is second;

T _fgbe the route time of f crossing to g crossing, unit is second;

T _gebe the route time of g crossing to e crossing, unit is second;

γ _{e, 2}be the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of e crossing of e crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{f, 4}be the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{g, 2}be the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of g crossing of g crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{f, 2}be the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{e, 4}be the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{g, 4}be the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of g crossing of g crossing, obtained by the historical data statistics of above-mentioned detection;

L _e, L _fand L _din one-period, for e crossing, all phase places in f crossing and g crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _e, L _fand L _dall equal and value is 16 seconds;

W _{e, 2}be the forward green wave band position of the 2nd phase place of e crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{f, 4}be the forward green wave band position of the 4th phase place of f crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{g, 2}be the reverse green wave band position of the 2nd phase place of g crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights start;

V _{f, 2}be the reverse green wave band position of the 4th phase place of c crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights start;

V _{e, 4}refer to the reverse green wave band position of the 4th phase place of e crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{g, 4}refer to the reverse green wave band position of the 4th phase place of g crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₅refer to the most approaching but be less than (t _ef+ 0.5 γ _{e, 2}l _e-0.5 γ _{f, 4}l _f) z+w _{e, 2}-w _{f, 4}+ 0.5 (γ _{f, 4}-γ _{e, 2}) value integer;

I ₆refer to the most approaching but be less than (t _fg+ 0.5 γ _{g, 2}l _g-0.5 γ _{f, 2}l _f) z+v _{g, 2}-v _{f, 2}+ 0.5 (γ _{g, 2}-γ _{f, 2}) value integer;

I ₇refer to the most approaching but be less than (t _ge+ 0.5 γ _{e, 4}l _e-0.5 γ _{g, 4}l _g) z+v _{e, 4}-v _{g, 4}+ 0.5 (γ _{g, 4}-γ _{e, 4}) value integer;

(III) determines equation

${\mathrm{\φ}}_{(e,4)(e,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)({\mathrm{\γ}}_{e,1}-{\mathrm{\γ}}_{e,1}{L}_{e}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,2}{L}_{e}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,4}+{\mathrm{\γ}}_{e,4}{L}_{e}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),$

${\mathrm{\φ}}_{(f,4)(f,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)({\mathrm{\γ}}_{f,1}-{\mathrm{\γ}}_{f,1}{L}_{f}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,2}{L}_{f}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,4}+{\mathrm{\γ}}_{f,4}{L}_{f}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),$

${\mathrm{\φ}}_{(g,2)(g,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)({\mathrm{\γ}}_{g,3}-{\mathrm{\γ}}_{g,3}{L}_{g}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,2}{L}_{g}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,4}+{\mathrm{\γ}}_{g,4}{L}_{g}z)$

$=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)(-{\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(f,4)(f,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),$

${\mathrm{\φ}}_{(g,2)(g,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)(-{\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),$

${\mathrm{\φ}}_{(e,4)(e,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),$

This formula group is defined as G formula group, wherein:

γ _{e, 3}be the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of e crossing of e crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{e, 4}be the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{e, 1}be the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of e crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{f, 1}be the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of f crossing, obtained by the historical data statistics of above-mentioned detection;

γ _{g, 3}be the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of g crossing of g crossing, obtained by the historical data statistics of above-mentioned detection;

(IV), by F formula group and G formula group substitution E formula, draws loop constraint formulations:

（3t _L+t _ef-γ _f,2L _f+t _fg-γ _g,4L _g-γ _g,2L _g

+λ(γ _e,1)(-γ _e,1L _e+t _L)+λ(γ _f,3)(-γ _f,3L _f+t _L)

+λ(γ _g,1)(-γ _g,1L _g+t _L))z

+w _e,2-w _f,2+w _f,4-w _g,4-v _g,2+v _e,4-I

=-γ _f,2-γ _g,4-γ _g,2-λ(γ _e,1)γ _e,1-λ(γ _f,3)γ _f,3-λ(γ _g,1)γ _g,1;

(V) coordinates to control computing machine by data input area detected step described in claim 1 (1), the loop constraint formulations of recycling step (IV), calculate in the second control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing in the second control area.

Particularly, the green wave band maximization problems of control area is as shown in Figure 1 described below:

$\max \frac{1}{12}(b_{12}+b_{21}+b_{23}+b_{32}+b_{45}+b_{54}+b_{53}+b_{35}+b_{14}+b_{41}+b_{25}+b_{52})$

s.t.:

Article 1, i.e. the 1st crossing, the 1st of main line the crossing:

0.5b ₁₂-w _1，2≤0,

${\mathrm{\γ}}_{\mathrm{1,2}}{n}_p^1{t}_{l}z+0.5b_{12}+w_{\mathrm{1,2}}\≤{\mathrm{\γ}}_{\mathrm{1,2}},$

0.5b ₂₁-v _1,2≤0,

${\mathrm{\γ}}_{\mathrm{1,2}}{n}_p^1{t}_{l}z+0.5b_{21}+v_{\mathrm{1,2}}\≤{\mathrm{\γ}}_{\mathrm{1,2}},$

Article 1, i.e. the 2nd crossing, the 2nd of main line the crossing:

0.5b ₁₂-w _2，2≤0,

${\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_{l}z+0.5b_{12}+w_{\mathrm{2,2}}\≤{\mathrm{\γ}}_{\mathrm{2,2}},$

0.5b ₂₁-v _2,2≤0,

${\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_{l}z+0.5b_{21}+v_{\mathrm{2,2}}\≤{\mathrm{\γ}}_{\mathrm{2,2}},$

0.5b ₂₃-w _2,2≤0,

${\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_{l}z+0.5b_{23}+w_{\mathrm{2,2}}\≤{\mathrm{\γ}}_{\mathrm{2,2}},$

0.5b ₃₂-v _2,2≤0,

${\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_{l}z+0.5b_{32}+v_{\mathrm{2,2}}\≤{\mathrm{\γ}}_{\mathrm{2,2}},$

Article 1, i.e. the 3rd crossing, the 3rd of main line the crossing:

0.5b ₂₃-w _3，2≤0,

${\mathrm{\γ}}_{\mathrm{3,2}}{n}_p^3{t}_{l}z+0.5b_{23}+w_{\mathrm{3,2}}\≤{\mathrm{\γ}}_{\mathrm{3,2}},$

0.5b ₃₂-v _3,2≤0,

${\mathrm{\γ}}_{\mathrm{3,2}}{n}_p^3{t}_{l}z+0.5b_{23}+v_{\mathrm{3,2}}\≤{\mathrm{\γ}}_{\mathrm{3,2}},$

Article 2, i.e. the 4th crossing, the 1st of main line the crossing:

0.5b ₄₅-w _4,2≤0,

${\mathrm{\γ}}_{\mathrm{4,2}}{n}_p^4{t}_{L}z+0.5b_{45}+w_{\mathrm{4,2}}\≤{\mathrm{\γ}}_{\mathrm{4,2}},$

0.5b ₅₄-v _4,2≤0,

${\mathrm{\γ}}_{\mathrm{4,2}}{n}_p^4{t}_{L}z+0.5b_{54}+v_{\mathrm{4,2}}\≤{\mathrm{\γ}}_{\mathrm{4,2}},$

Article 2, i.e. the 5th crossing, the 2nd of main line the crossing:

0.5b ₄₅-w _5，2≤0,

${\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_{L}z+0.5b_{45}+w_{\mathrm{5,2}}\≤{\mathrm{\γ}}_{\mathrm{5,2}},$

0.5b ₅₄-v _5,2≤0,

${\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_{L}z+0.5b_{54}+v_{\mathrm{5,2}}\≤{\mathrm{\γ}}_{\mathrm{5,2}},$

0.5b ₅₃-w _5,2≤0,

${\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_{L}z+0.5b_{53}+w_{\mathrm{5,2}}\≤{\mathrm{\γ}}_{\mathrm{5,2}},$

0.5b ₃₅-v _5,2≤0,

${\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_{L}z+0.5b_{35}+v_{\mathrm{5,2}}\≤{\mathrm{\γ}}_{\mathrm{5,2}},$

Article 2, i.e. the 3rd crossing, the 3rd of main line the crossing:

0.5b ₅₃-w _3，4≤0,

${\mathrm{\γ}}_{\mathrm{3,4}}{n}_p^3{t}_{L}z+0.5b_{53}+w_{\mathrm{3,4}}\≤{\mathrm{\γ}}_{\mathrm{3,4}},$

0.5b ₃₅-v _3,4≤0,

${\mathrm{\γ}}_{\mathrm{3,4}}{n}_p^3{t}_{L}z+0.5b_{35}+v_{\mathrm{3,4}}\≤{\mathrm{\γ}}_{\mathrm{3,4}},$

Article 3, i.e. the 4th crossing, the 1st of main line the crossing:

0.5b ₄₁-w _4,4≤0,

${\mathrm{\γ}}_{\mathrm{4,4}}{n}_p^4{t}_{L}z+0.5b_{41}+w_{\mathrm{4,4}}\≤{\mathrm{\γ}}_{\mathrm{4,4}}$

0.5b ₁₄-v _4,4≤0,

${\mathrm{\γ}}_{\mathrm{4,4}}{n}_p^4{t}_{L}z+0.5b_{14}+v_{\mathrm{4,4}}\≤{\mathrm{\γ}}_{\mathrm{4,4}},$

Article 3, i.e. the 1st crossing, the 2nd of main line the crossing:

0.5b ₄₁-w _1,4≤0,

${\mathrm{\γ}}_{\mathrm{1,4}}{n}_p^1{t}_{L}z+0.5b_{41}+w_{\mathrm{1,4}}\≤{\mathrm{\γ}}_{\mathrm{1,4}},$

0.5b ₁₄-v _1,4≤0,

${\mathrm{\γ}}_{\mathrm{1,4}}{n}_p^1{t}_{L}z+0.5b_{14}+v_{\mathrm{1,4}}\≤{\mathrm{\γ}}_{\mathrm{1,4}},$

Article 4, i.e. the 5th crossing, the 1st of main line the crossing:

0.5b ₅₂-w _5，4≤0,

${\mathrm{\γ}}_{\mathrm{5,4}}{n}_p^5{t}_{L}z+0.5b_{52}+w_{\mathrm{5,4}}\≤{\mathrm{\γ}}_{\mathrm{5,4}},$

0.5b ₂₅-v _5,4≤0,

${\mathrm{\γ}}_{\mathrm{5,4}}{n}_p^5{t}_{L}z+0.5b_{25}+v_{\mathrm{5,4}}\≤{\mathrm{\γ}}_{\mathrm{5,4}},$

Article 4, i.e. the 2nd crossing, the 2nd of main line the crossing:

0.5b ₅₂-w _2,4≤0,

${\mathrm{\γ}}_{\mathrm{2,4}}{n}_p^2{t}_{L}z+0.5b_{52}+w_{\mathrm{2,4}}\≤{\mathrm{\γ}}_{\mathrm{2,4}}$

0.5b ₂₅-v _2,4≤0,

${\mathrm{\γ}}_{\mathrm{2,4}}{n}_p^2{t}_{L}z+0.5b_{25}+v_{\mathrm{2,4}}\≤{\mathrm{\γ}}_{\mathrm{2,4}},$

Article 1, the 1st of main line the section is section 12:

$(t_{12}+t_{21}+{\mathrm{\γ}}_{\mathrm{1,2}}{n}_p^1{t}_L-{\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_L)z+w_{\mathrm{1,2}}+v_{\mathrm{1,2}}-w_{\mathrm{2,2}}-v_{\mathrm{2,2}}-I_{12}={\mathrm{\γ}}_{\mathrm{1,2}}-{\mathrm{\γ}}_{\mathrm{2,2}},$

Article 1, the 2nd of main line the section is section 23:

$(t_{23}+t_{32}+{\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_L-{\mathrm{\γ}}_{\mathrm{3,2}}{n}_p^3{t}_L)z+w_{\mathrm{2,2}}+v_{\mathrm{2,2}}-w_{\mathrm{3,2}}-v_{\mathrm{3,2}}-I_{23}={\mathrm{\γ}}_{\mathrm{2,2}}-{\mathrm{\γ}}_{\mathrm{3,2}},$

Article 2, the 1st of main line the section is section 45:

$(t_{45}+t_{54}+{\mathrm{\γ}}_{\mathrm{4,2}}{n}_p^4{t}_L-{\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_L)z+w_{\mathrm{4,2}}+v_{\mathrm{4,2}}-w_{\mathrm{5,2}}-v_{\mathrm{5,2}}-I_{45}={\mathrm{\γ}}_{\mathrm{4,2}}-{\mathrm{\γ}}_{\mathrm{5,2}},$

Article 2, the 2nd of main line the section is section 53:

$(t_{53}+t_{35}+{\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_L-{\mathrm{\γ}}_{\mathrm{3,4}}{n}_p^3{t}_L)z+w_{\mathrm{5,2}}+v_{\mathrm{5,2}}-w_{\mathrm{3,4}}-v_{\mathrm{3,4}}-I_{53}={\mathrm{\γ}}_{\mathrm{5,2}}-{\mathrm{\γ}}_{\mathrm{3,4}},$

Article 3, the 1st of main line the section is section 41:

$(t_{41}+t_{14}+{\mathrm{\γ}}_{\mathrm{4,4}}{n}_p^4{t}_L-{\mathrm{\γ}}_{\mathrm{1,4}}{n}_p^1{t}_L)z+w_{\mathrm{4,4}}+v_{\mathrm{4,4}}-w_{\mathrm{1,4}}-v_{\mathrm{1,4}}-I_{41}={\mathrm{\γ}}_{\mathrm{4,4}}-{\mathrm{\γ}}_{\mathrm{1,4}},$

Article 4, the 1st of main line the section is section 52:

$(t_{52}+t_{25}+{\mathrm{\γ}}_{\mathrm{5,4}}{n}_p^5{t}_L-{\mathrm{\γ}}_{\mathrm{2,4}}{n}_p^2{t}_L)z+w_{\mathrm{5,4}}+v_{\mathrm{5,4}}-w_{\mathrm{2,4}}-v_{\mathrm{2,4}}-I_{52}={\mathrm{\γ}}_{\mathrm{5,4}}-{\mathrm{\γ}}_{\mathrm{2,4}},$

The first loop:

$(t_{14}-{\mathrm{\γ}}_{\mathrm{1,4}}{n}_p^1{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{1,3}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{1,3}}{n}_p^1{t}_L)+t_L$

$+t_{45}-{\mathrm{\γ}}_{\mathrm{5,2}}{n}_p^5{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{4,1}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{4,1}}{n}_p^4{t}_L)+t_L$

$+t_{52}-{\mathrm{\γ}}_{\mathrm{2,4}}{n}_p^2{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{5,3}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{5,3}}{n}_p^5{t}_L)+t_L$

$+t_{21}-{\mathrm{\γ}}_{\mathrm{2,2}}{n}_p^2{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{2,1}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{2,1}}{n}_p^2{t}_L)+t_L)z$

$-v_{\mathrm{1,4}}+v_{\mathrm{4,4}}-w_{\mathrm{4,2}}+w_{\mathrm{5,2}}+w_{\mathrm{5,4}}-w_{\mathrm{2,4}}-v_{\mathrm{2,2}}+v_{\mathrm{1,2}}-I_{1452}$

$=-{\mathrm{\γ}}_{\mathrm{1,4}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{1,3}}\right){\mathrm{\γ}}_{\mathrm{1,3}}-{\mathrm{\γ}}_{\mathrm{5,2}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{4,1}}\right){\mathrm{\γ}}_{\mathrm{4,1}}$

$-{\mathrm{\γ}}_{\mathrm{2,4}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{5,3}}\right){\mathrm{\γ}}_{\mathrm{5,3}}-{\mathrm{\γ}}_{\mathrm{2,2}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{2,1}}\right){\mathrm{\γ}}_{\mathrm{2,1}},$

The second loop:

$(t_{25}-{\mathrm{\γ}}_{\mathrm{2,4}}{n}_p^1{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{2,3}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{2,3}}{n}_p^2{t}_L)+t_L$

$+t_{53}-{\mathrm{\γ}}_{\mathrm{3,4}}{n}_p^3{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{5,1}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{5,1}}{n}_p^5{t}_L)+t_L$

$+t_{32}-{\mathrm{\γ}}_{\mathrm{3,2}}{n}_p^3{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{3,1}}\right)(t_L-{\mathrm{\γ}}_{\mathrm{3,1}}{n}_p^3{t}_L)+t_L)z$

$-v_{\mathrm{2,4}}+v_{\mathrm{5,4}}+w_{\mathrm{5,2}}-w_{\mathrm{3,4}}-v_{\mathrm{3,2}}+v_{\mathrm{2,2}}-I_{253}$

$=-{\mathrm{\γ}}_{\mathrm{2,4}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{2,3}}\right){\mathrm{\γ}}_{\mathrm{2,3}}-{\mathrm{\γ}}_{\mathrm{3,4}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{5,1}}\right){\mathrm{\γ}}_{\mathrm{5,1}}-{\mathrm{\γ}}_{\mathrm{3,2}}-\mathrm{\λ}\left({\mathrm{\γ}}_{\mathrm{3,1}}\right){\mathrm{\γ}}_{\mathrm{3,1}},$

$\frac{1}{C_{\max }}\≤z\≤\frac{1}{C_{\min }}$

According to above-mentioned loop constraint condition, can calculate in region each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing.

The cycle start time information of above-mentioned each crossing and each maximum green time information are delivered in the traffic signal controlling machine at crossing, traffic signal controlling machine is according to cycle initial time and maximum green time, carry out the control of dynamic traffic signals regional coordination, the traffic lights of exporting and control each traffic lights are the bright light moment of red light and the green light of traffic lights.

Below that general formula is shifted in one group of loop constraint onto:

$\max \left(\underset{j=1}{\overset{n_{\mathrm{arte}}}{\mathrm{\Σ}}}\underset{i=1}{\overset{n_{\mathrm{inte}}^j-1}{\mathrm{\Σ}}}(k_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i+1,j}}{b}_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i+1,j}}+k_{{\mathrm{\α}}_{i+1,j}{,\mathrm{\α}}_{\mathrm{ij}}}{b}_{{\mathrm{\α}}_{i+1,j},{\mathrm{\α}}_{\mathrm{ij}}})\right)$

s.t.:

$j=1,...,n_{\mathrm{arte}}:\left\{\begin{array}{c}\left\{\begin{array}{c}0.5b_{{\mathrm{\α}}_{1j},{\mathrm{\α}}_{2j}}-w_{{\mathrm{\α}}_{1j},p_{1j}}\≤0\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{1j},p_{1j}}{n}_p^{{\mathrm{\α}}_{1j}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{1j},{\mathrm{\α}}_{2j}}+w_{{\mathrm{\α}}_{1j},p_{1j}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{1j},p_{1j}},\\ 0.5b_{{\mathrm{\α}}_{2j},{\mathrm{\α}}_{1j}}-v_{{\mathrm{\α}}_{1j},p_{1j}}\≤0,\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{1j},p_{1j}}{n}_p^{{\mathrm{\α}}_{1j}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{2j},{\mathrm{\α}}_{1j}}+v_{{\mathrm{\α}}_{1j},p_{1j}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{1j},p_{1j}},\end{array}\right.\\ i=2,...,n_{\mathrm{inte}}^j-1:\left\{\begin{array}{c}0.5b_{{\mathrm{\α}}_{i-1,j},{\mathrm{\α}}_{\mathrm{ij}}}-w_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤0,\\ {\mathrm{\γ}}_{a_{\mathrm{ij}},p_{\mathrm{ij}}}{n}_p^{{\mathrm{\α}}_{\mathrm{ij}}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{i-1,j}{\mathrm{\α}}_{\mathrm{ij}}}+w_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}},\\ 0.5b_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i-1,j}}-v_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤0,\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}{n}_p^{{\mathrm{\α}}_{\mathrm{ij}}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i-1,j}}+v_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}},\\ 0.5b_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i+1,j}}-w_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤0,\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}{n}_p^{{\mathrm{\α}}_{\mathrm{ij}}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i+1,j}}+w_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}},\\ 0.5b_{{\mathrm{\α}}_{i+1,j},{\mathrm{\α}}_{\mathrm{ij}}}-v_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤0,\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}{n}_p^{{\mathrm{\α}}_{\mathrm{ij}}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{i+1,j},{\mathrm{\α}}_{\mathrm{ij}}}+v_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}},\end{array}\right.\\ \left\{\begin{array}{c}0.5b_{{\mathrm{\α}}_{(n_{\mathrm{inte}}^j-1),j},{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j}}-w_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},p_{n_{\mathrm{inte}}^j,j}}\≤0,\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j}{p}_{n_{\mathrm{inte}}^j,j}}{n}_p^{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j}}{t}_{L}z+0.5b_{{\mathrm{\α}}_{(n_{\mathrm{inte}}^j-1),j},{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j}}+w_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j}{p}_{n_{\mathrm{inte}}^j,j}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},p_{n_{\mathrm{inte}}^j,j}},\\ 0.5b_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},{\mathrm{\α}}_{(n_{\mathrm{inte}}^j-1),j}}-v_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},p_{n_{\mathrm{inte}}^j,j}}\≤0,\\ {\mathrm{\γ}}_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,h},p_{n_{\mathrm{inte}}^j,j}}{n}_p^{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j}}{t}_{L}z0.5b_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},{\mathrm{\α}}_{(n_{\mathrm{inte}}^j-1),j}}+v_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},p_{n_{\mathrm{inte}}^j,j}}\≤{\mathrm{\γ}}_{{\mathrm{\α}}_{n_{\mathrm{inte}}^j,j},p_{n_{\mathrm{inte}}^j,j}},\end{array}\right.\end{array}\right.$

$j=1,...,n_{\mathrm{arte}}:\{i=1,...,n_{\mathrm{inte}}^j-1:\left\{\begin{array}{c}(t_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i+1,j}}+t_{{\mathrm{\α}}_{i+1,j}{\mathrm{\α}}_{\mathrm{ij}}}+{\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}{n}_p^{{\mathrm{\α}}_{\mathrm{ij}}}{t}_L-{\mathrm{\γ}}_{{\mathrm{\α}}_{i+1,j}{p}_{i+1,j}}{n}_p^{{\mathrm{\α}}_{i+1,j}}{t}_L)z\\ +w_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}+v_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}-w_{{\mathrm{\α}}_{i+1,j},p_{i+1,j}}-v_{{\mathrm{\α}}_{i+1,j},p_{i+1,j}}\\ -I_{{\mathrm{\α}}_{\mathrm{ij}},{\mathrm{\α}}_{i+1,j}}={\mathrm{\γ}}_{{\mathrm{\α}}_{\mathrm{ij}},p_{\mathrm{ij}}}-{\mathrm{\γ}}_{{\mathrm{\α}}_{i+1,j},p_{i+1,j}},\end{array}\right.$

$h=1,...,n_{\mathrm{loop}}:\left\{\begin{array}{c}\underset{k=1}{\overset{n_{\mathrm{inte}\_l}^h}{\mathrm{\Σ}}}(t_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^e,},{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^e}}-{\mathrm{\γ}}_{{\stackrel{\‾}{\mathrm{\α}}}_{\mathrm{kh}},{\stackrel{\‾}{p}}_{\mathrm{kh}}}{n}_p^{{\stackrel{\‾}{\mathrm{\α}}}_{\mathrm{kh}}}{t}_L+\mathrm{\λ}\left({\mathrm{\γ}}_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s},(p_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s}-1)}\right)(-{\mathrm{\γ}}_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s},(p_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s}-1)}{n}_p^{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s}}{t}_L+t_L)+t_L)z\\ +\underset{k=1}{\overset{n_{\mathrm{inte}\_l}^h}{\mathrm{\Σ}}}{\mathrm{\η}}_{\mathrm{kh}}({\mathrm{\μ}}_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s},p_{j_{\mathrm{kh}}^a,j_{\mathrm{kh}}^s}}-{\mathrm{\μ}}_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^e},p_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^e}})-I_{{\mathrm{\α}}_{j_{1h}^a,i_{1h}^s},{\mathrm{\α}}_{j_{2h}^a,i_{2h}^s},...,{\mathrm{\α}}_{j_{\left(n_{\mathrm{inte}\_l}^h\right),h}^a{,i}_{\left(n_{\mathrm{inte}\_l}^h\right),h}^s}}\\ =-\underset{k=1}{\overset{n_{\mathrm{inte}\_l}^h}{\mathrm{\Σ}}}({\mathrm{\γ}}_{{\stackrel{\‾}{\mathrm{\α}}}_{\mathrm{kh}},{\stackrel{\‾}{p}}_{\mathrm{kh}}}+\mathrm{\λ}\left({\mathrm{\γ}}_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s},(p_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s}-1)}\right){\mathrm{\γ}}_{{\mathrm{\α}}_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s},(p_{j_{\mathrm{kh}}^a,i_{\mathrm{kh}}^s}-1)}),\\ {\mathrm{\η}}_{\mathrm{kh}}=\mathrm{sgn}(i_{\mathrm{kh}}^s-i_{\mathrm{kh}}^e),\\ \mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0.\end{array}\right.\end{array}\right.$

$\frac{1}{C_{\max }}\≤z\≤\frac{1}{C_{\min }}.$

Table one: in general formula, the implication of parameters is described

Table two: symbol, definition and the unit of the basic variable of signalized intersections place traffic flow

In the time implementing signal controlling, life cycle initial time is poor convenient.The initial time in cycle is defined as: the initial time of the 1st phase place green time.Crossing a is to the poor ψ of cycle initial time of crossing b _abas shown in Figure 9.If the green time of the 1st phase place is zero, the initial time in cycle is the initial time of the 2nd phase place.

In order to provide the poor ψ of cycle initial time _abwith phase difference _{(a, i), (b, j)}, i=1,2,3,4; J=1,2,3, the relation between 4, we first provide phase difference _{(a, i), (b, j)}poor with phase place green light initial time between relation.

As shown in figure 10, phase difference _{(a, i), (b, j)}poor with phase place green light initial time between pass be

The poor ψ of cycle initial time _abpoor with phase place green light initial time between pass be

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0.\end{array}\right.$

Wherein, i=1,2,3,4, j=1,2,3,4, if the ψ being calculated by above-mentioned publicity _abbe greater than 1, only get fraction part as ψ _ab.

According to the public crossing between each sub regions, determine in whole control area, to belong to the crossing of other subregions and with reference to the phase differential between crossing the cycle initial time of each crossing of calculative determination.

Embodiment 2:

All the other steps are all consistent with embodiment 1, only in step (four), add definite phase sequence step, first determine phase sequence, then calculate maximum green time by the phase sequence formula of optimizing, be used for the computing method of maximum green time in alternative embodiment 1.

Specifically determine phase sequence according to the left-hand rotation rate of each direction, determine that flow process as shown in figure 11.When left-hand rotation rate is greater than threshold value k ₂time, adopt special left turn phase, k ₂value is 2.

The transport need of each phase place and saturation volume rate as shown in figure 11, and phase sequence all determines, just can utilize formula below to calculate the maximum green time of each phase place.(max (sltr (t), nltr (t)) > k ₂) * 2+ (max (eltr (t), wltr (t)) >k ₂) formula explanation: if sltr (t), the higher value in nltr (t) is greater than k ₂, (max (sltr (t), nltr (t)) >k ₂) value be 1, otherwise be 0; If eltr (t), the higher value in wltr (t) is greater than k ₂, (max (eltr (t), wltr (t)) > k ₂) value be 1, otherwise be 0; Formula (max (sltr (t), nltr (t)) >k ₂) * 2+ (max (eltr (t), wltr (t)) > k ₂) result of calculation have following several value: 0,1,2,3.If result of calculation is 0, adopt two phase place sequence; Result of calculation is 1, adopts three phase sequence a; Result of calculation is 2, adopts three phase sequence b; Result of calculation is 3, adopts four phase sequences.

According to the phase place definition in Fig. 2, two phase place sequence, three phase sequence a, three phase sequence b and four phase sequences are respectively as shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6.Wherein, two phase place sequence adopts following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+2+5+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+4+7+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Three phase sequence a adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+4+7+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Three phase sequence b adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+2+5+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Four phase sequences adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L)$

Wherein, X _dfor the crucial v/c ratio of expecting, get 0.9 here,

V _ibe i ∈ 1,2 ..., the transport need of 8} phase place;

S _ibe i ∈ 1,2 ..., the saturation volume rate of 8} phase place;

The total losses time in L one-period, equals to be multiplied by phase place number lost time, gets lost time 4 seconds, here L=4*4=16 second;

C Cycle Length;

the maximum green time of phase place 1+2+5+6;

the maximum green time of phase place 3+4+7+8;

the maximum green time of phase place 1+5;

the maximum green time of phase place 2+6;

the maximum green time of phase place 3+7;

the maximum green time of phase place 4+8.

Test example:

Coordinate to control the variation of front and back road network traffic efficiency in order to verify contrast, adopt VISSIM software to carry out traffic simulation the control method of above-described embodiment 1 and embodiment 2, this software carries out respectively entirety and partial simulation to each main line in five crossing compositing area road networks and road network, simulation result shows, Regional Road Network vehicle pass-through efficiency has on average improved 21%, and each Trunk Road Network vehicle on average improves 26% by efficiency.

The region that above-mentioned traffic control method is applied to the multiple five crossing compositions in new city region, Longwan District, Wenzhou City, Regional Road Network vehicle pass-through efficiency has on average improved 17%.

Claims (4)

1. a regional coordination traffic control method, is characterized in that:

You Duotiao track, described region connects five crossing compositions, each crossing is the cross junction being made up of two mutual square crossings in track, wherein four cross junctions are regularly arranged, and track connects first of four right-angled intersection interruption-forming groined types and controls subregion; Another crossing is the straight line extension in a track therein, in this crossing, orthogonal two crossings connect respectively two crossings on parallel track, two groups of upstreams, and another crossing is connected to form the second control subregion by two crossings on parallel track, two groups of Yu Qi upstreams, track;

Four bearing of trends of cross junction are respectively with A, C, B and D representative, and the intersection center of cross junction represents with O; In described cross junction, two tracks of square crossing are all back and forth two way zones mutually, wherein a track is to be kept straight on and keep straight on to the two way zone back and forth of A through O to B or by B through O by A, and another perpendicular track is to be kept straight on and keep straight on to the two way zone back and forth of C through O to D or by D through O by C;

Effective controlling party that there are 8 Vehicle Driving Cycles each crossing to, respectively:

With numeral 1 represent B drive towards controlling party that O place left-hand rotation drives towards D to,

With numeral 2 represent A drives towards B controlling party through O place craspedodrome to,

With numeral 3 represent D drive towards controlling party that O place left-hand rotation drives towards A to,

With numeral 4 represent C drives towards D controlling party through O place craspedodrome to,

With numeral 5 represent A drive towards controlling party that O place left-hand rotation drives towards C to,

With numeral 6 represent B drives towards A controlling party through O place craspedodrome to,

With numeral 7 represent C drive towards controlling party that O place craspedodrome drives towards B to,

With numeral 8 represent D drives towards C controlling party through O place craspedodrome to,

Above-mentioned 8 controlling parties are in respectively corresponding 8 phase places of control field, and the 1st phase place, the 2nd phase place, the 3rd phase place, the 4th phase place, the 5th phase place, the 6th phase place, the 7th phase place and the 8th phase place are respectively with above-mentioned 1,2,3,4,5,6,7 and 8 corresponding;

The required hardware of this coordination traffic control method comprises multiple detecting devices, many traffic signal controlling machines, regional coordinations control database server, regional coordination control computing machine, traffic lights; The control step of this coordination traffic control method is as follows:

(1) multiple detecting devices are arranged on respectively to above-mentioned five crossings, the collection of the detecting device that is arranged on crossing to day part traffic data, the traffic data collecting is sent to traffic signal controlling machine, and traffic signal controlling machine connects the traffic lights of each crossing;

(2) regional coordination that traffic signal controlling machine uploads to control center by Ethernet or GPRS network by the traffic data server of controlling database;

(3) the regional coordination control computing machine that is arranged in control center extracts the control database traffic data of server of regional coordination and processes and predict;

According to the traffic flow data that gathers each time period, the transport need of calculating each phase place, i.e. flow rate, the calculation procedure of flow rate is as follows:

1. first detect the time headway at stop line place by the detecting device of each crossing;

2. the traffic flow data that gathers each time period is processed, calculated time headway, adopt h to represent average headway, unit: second;

3. adopt v to represent transport need, i.e. flow rate, calculates flow rate by following formula:

$v=3600\frac{1}{h},$

Above-mentioned time headway in 1. refers in the time of start, the time interval between adjacent two car headstocks;

4. detect and calculate the saturation volume rate of each crossing phase place, saturation volume rate represents with s;

The data that step ()～(three) gather and calculate comprise: the time gap that the route time data between each phase data, Adjacent Intersections, positive negative direction green wave band center start to each phase place green light, flow rate and the saturation volume rate data of each phase place;

(4) flow rate of each phase place calculating in (three) and saturation volume rate data are inputed to regional coordination control computing machine, regional coordination control computing machine is processed the dynamic flow rate in each moment and saturation volume rate data again, export the maximum green time of each crossing, maximum green time g ^maxrepresent the maximum green time g of each crossing ^maxspecifically comprise the maximum green time of the 1st phase place and the 5th phase place, the 2nd phase place and the 6th phase place, the 3rd phase place and the 7th phase place and the 4th phase place and the 8th phase place;

(5) above-mentioned maximum green time is retrained, constraint condition is:

If 10≤g ^max≤ 60, value g ^max; If g ^maxbe less than 10 seconds, get 10 seconds; If g ^maxbe greater than 60 seconds, get 60 seconds;

(6) determine region wherein a crossing for reference to crossing, the data that detect and calculate gained in step (three) are inputed to regional coordination control computing machine and carry out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine the cycle initial time of coordination phase place in crossing in region;

The cycle start time information of each crossing and each maximum green time information are delivered in the traffic signal controlling machine at crossing, traffic signal controlling machine is according to cycle initial time and maximum green time, carry out the control of dynamic traffic signals regional coordination, export and control the traffic lights bright light moment of each traffic lights;

In described step (four), each maximum green time draws by following method processing:

$C=\frac{X_{d}L}{X_d-\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

Wherein:

X _dfor the crucial v/c ratio of expecting, X _dvalue is 0.9;

L is the total losses time in one-period, unit: second, equaling to be multiplied by lost time phase place number, be 4 seconds lost time, L equals to be multiplied by 4 phase places lost time, equals 16 seconds;

C is Cycle Length, unit: second;

Flow rate represents with v, v _iimplication be i ∈ 1,2 ..., the transport need of 8} phase place, the i.e. flow rate of i phase place; Saturation volume rate represents with s, wherein s _irefer to i ∈ in any one crossing 1,2 ..., 8} phase place saturation volume rate; The unit of v and s is :/hour;

Use g ^maxrepresent maximum green time, unit: second, wherein:

represent the maximum green time of the 1st phase place and the 5th phase place;

represent the maximum green time of the 2nd phase place and the 6th phase place;

represent the maximum green time of the 3rd phase place and the 7th phase place;

represent the maximum green time of the 4th phase place and the 8th phase place.

2. a kind of regional coordination traffic control method according to claim 1, is characterized in that:

The track that described many continuous first places join forms main line, and described region connects five crossings by 4 main lines and forms, and five crossings are respectively the 1st crossing, the 2nd crossing, the 3rd crossing, the 4th crossing and the 5th crossing; Article 4, main line is respectively: the 1st main line that connects successively the 1st crossing, the 2nd crossing, the 3rd crossing; Connect successively the 2nd main line of the 4th crossing, the 5th crossing, the 3rd crossing; Connect the 3rd main line of the 4th crossing, the 1st crossing; Connect the 4th main line of the 5th crossing, the 2nd crossing, on every main line, arrange by positive dirction crossing;

Wherein between the 1st crossing, the 2nd crossing, the 4th crossing and the 5th crossing, interconnective each track forms in the first control subregion, and the track that connects the 2nd crossing, the 5th crossing and the 3rd crossing forms second and controls subregion;

First controls in subregion:

The track that connects the 4th crossing with the 1st crossing is defined as section 14;

The track that connects the 5th crossing with the 4th crossing is defined as section 45;

The track that connects the 2nd crossing with the 5th crossing is defined as section 52;

The track that connects the 1st crossing with the 2nd crossing is defined as section 21;

Section 14, section 45, section 52 and section 21 form the first loop;

Second controls in subregion:

The track that connects the 5th crossing with the 2nd crossing is defined as section 25;

The track that connects the 3rd crossing with the 5th crossing is defined as section 53;

The track that connects the 2nd crossing with the 3rd crossing is defined as section 32;

Section 25, section 53 and section 32 form the second loop;

In described step (six), regional coordination control computing machine carries out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine that the cycle initial time of coordination phase place in crossing in region is to be undertaken by following two loop constrained procedures:

The loop constrained procedure of described the first loop is as follows:

(1) determine that constraint condition is as follows:

Will $\begin{array}{c}{\mathrm{\φ}}_{(a,2),(b,2)}+{\mathrm{\φ}}_{(b,2),(b,4)}+{\mathrm{\φ}}_{(b,4),(c,4)}+{\mathrm{\φ}}_{(c,4),(c,2)}\\ +{\mathrm{\φ}}_{(c,2),(d,2)}+{\mathrm{\φ}}_{(d,2),(d,4)}+{\mathrm{\φ}}_{(d,4),(a,4)}{\mathrm{\φ}}_{(a,4),(a,2)=I,}\end{array}$ This formula is defined as A formula, wherein:

φ _{(a, 2), (b, 2)}be that the 2nd phase place of a crossing is to the phase differential of the 2nd phase place of b crossing;

φ _{(b, 2), (b, 4)}be that the 2nd phase place of b crossing is to the phase differential of the 4th phase place of b crossing;

φ _{(b, 4), (c, 4)}be that the 4th phase place of b crossing is to the phase differential of the 4th phase place of c crossing;

φ _{(c, 4), (c, 2)}be that the 4th phase place of c crossing is to the phase differential of the 2nd phase place of c crossing;

φ _{(c, 2), (d, 2)}be that the 2nd phase place of c crossing is to the phase differential of the 2nd phase place of d crossing;

φ _{(d, 2), (d, 4)}be that the 2nd phase place of d crossing is to the phase differential of the 4th phase place of d crossing;

φ _{(d, 4), (a, 4)}be that the 4th phase place of d crossing is to the phase differential of the 4th phase place of a crossing;

φ _{(a, 4), (a, 2)}be that the 4th phase place of a crossing is to the phase differential of the 2nd phase place of a crossing;

The value of above-mentioned I is integer;

Wherein a, b, c and d get respectively one of them numeral in 1,2,4 and 5, but will ensure to have upstream and downstream relation between a and b, b and c, c and d and d and a, are all adjacent crossings in the first loop section;

φ _(a,2),(b,2)＝(t _ab+0.5γ _a,2L _a-0.5γ _b,2L _b)z+w _a,2-w _b,2+0.5(γ _b,2-γ _a,2)-I ₁,

φ _(b,4),(c,4)＝(t _bc+0.5γ _b,4L _b-0.5γ _c,4L _c)z+w _b,4-w _c,4+0.5(γ _c,4-γ _b,4)-I ₂,

φ _(c,2),(d,2)＝(t _cd+0.5γ _d,2L _d-0.5γ _c,2L _c)z+v _d,2-v _c,2+0.5(γ _d,2-γ _c,2)-I ₃,

φ _{(d, 4), (a, 4)}=(t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4})-I ₄, this formula group is B formula group, wherein:

Z refers to the inverse in cycle, is the unknown quantity that needs restraint and calculate in above-mentioned formula;

T _abit is the route time of a crossing to b crossing;

T _bcit is the route time of b crossing to c crossing;

T _cdit is the route time of c crossing to d crossing;

T _dait is the route time of d crossing to a crossing;

γ _{a, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{b, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{c, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of d crossing of d crossing;

γ _{c, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{a, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{d, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of d crossing of d crossing;

L _a, L _b, L _cand L _din one-period, for a crossing, b crossing, all phase places in c crossing and d crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _a, L _b, L _cand L _dall equate and value 16 seconds;

W _{a, 2}be the forward green wave band position of the 2nd phase place of a crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 2}be the forward green wave band position of the 2nd phase place of b crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 4}be the forward green wave band position of the 4th phase place of b crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

W _{c, 4}be the forward green wave band position of the 4th phase place of c crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{d, 2}refer to the reverse green wave band position of the 2nd phase place of d crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{c, 2}refer to the reverse green wave band position of the 2nd phase place of c crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{a, 4}refer to the reverse green wave band position of the 4th phase place of a crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{d, 4}refer to the reverse green wave band position of the 4th phase place of d crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₁refer to the most approaching but be less than (t _ab+ 0.5 γ _{a, 2}l _a-0.5 γ _{b, 2}l _b) z+w _{a, 2}-w _{b, 2}+ 0.5 (γ _{b, 2}-γ _{a, 2}) value integer;

I ₂refer to the most approaching but be less than (t _bc+ 0.5 γ _{b, 4}l _b-0.5 γ _{c, 4}l _c) z+w _{b, 4}-w _{c, 4}+ 0.5 (γ _{c, 4}-γ _{b, 4}) value integer;

I ₃refer to the most approaching but be less than (t _cd+ 0.5 γ _{d, 2}l _d-0.5 γ _{c, 2}l _c) z+v _{d, 2}-v _{c, 2}+ 0.5 (γ _{d, 2}-γ _{c, 2}) value integer;

I ₄refer to the most approaching but be less than (t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4}) value integer;

(3) determine equation

$\begin{array}{c}{\mathrm{\φ}}_{(a,4)(a,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)({\mathrm{\γ}}_{a,1}-{\mathrm{\γ}}_{a,1}{L}_{a}z+t_{L}z)-\frac{1}{2}(1+{\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,2}{L}_{a}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{a,4}+{\mathrm{\γ}}_{a,4}{L}_{a}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(b,2)(b,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)({\mathrm{\γ}}_{b,3}-{\mathrm{\γ}}_{b,3}{L}_{b}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,2}{L}_{b}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,4}+{\mathrm{\γ}}_{b,4}{L}_{b}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(c,4)(c,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)({\mathrm{\γ}}_{c,1}-{\mathrm{\γ}}_{c,1}{L}_{c}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,2}{L}_{c}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,4}+{\mathrm{\γ}}_{c,4}{L}_{c}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(d,2)(d,4)}=1+t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)({\mathrm{\γ}}_{d,3}-{\mathrm{\γ}}_{d,3}{L}_{d}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,2}{L}_{d}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d,4}+{\mathrm{\γ}}_{d,4}{L}_{d}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),\end{array}$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(a,4),(a,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),$

${\mathrm{\φ}}_{(b,2)(b,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),$

${\mathrm{\φ}}_{(c,4)(c,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),$

${\mathrm{\φ}}_{(d,2)(d,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),$

This formula group is defined as to C formula group, wherein:

φ _{(a, 2), (a, 4)}be that the 2nd phase place of a crossing is to the phase differential of the 4th phase place of a crossing;

T _lrefer to the lost time of a phase place, get here 4 seconds;

γ _{a, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of d crossing of b crossing;

γ _{c, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of c crossing of d crossing;

(4) by B formula group and C formula group substitution A formula, draw loop constraint formulations:

(4t _L+t _ab-γ _b,2L _b+t _bc-γ _c,4L _c+t _cd-γ _c,2L _c+t _da-γ _d,4L _d+λ(γ _a,1)(-γ _a,1L _a+t _L)+λ(γ _b,3)(-γ _b,3L _b+t _L)+λ(γ _c,1)(-γ _c,1L _c+t _L)+λ(γ _d,3)(-γ _d,3L _b+t _L))z+w _a,2-w _b,2+w _b,4-w _c,4-v _c,2+v _d,2-v _d,4+v _a,4-I＝-γ _b,2-γ _c,4-γ _c,2-γ _d,4-λ(γ _a,1)γ _a,1-λ(γ _b,3)γ _b,3-λ(γ _c,1)γ _c,1-λ(γ _d,3)γ _d,3,

(5) data input area detected in the data that step described in claim 1 ()～(three) gather and calculate is coordinated to control computing machine, recycling loop constraint formulations, calculate in the first control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing;

The loop constrained procedure of described the second loop is as follows:

(I). will $\begin{array}{c}{\mathrm{\φ}}_{(e,2),(f,4)}+{\mathrm{\φ}}_{(f,4),(f,2)}+{\mathrm{\φ}}_{(f,2),(g,2)}+{\mathrm{\φ}}_{(g,2),(g,4)}\\ +{\mathrm{\φ}}_{(g,4),(e,4)}+{\mathrm{\φ}}_{(e,4),(e,2)}=I,\end{array}$ Formula is defined as E formula, wherein:

φ _{(e, 2), (f, 2)}be that the 2nd phase place of e crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 4), (f, 2)}be that the 4th phase place of f crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 2), (g, 2)}be that the 2nd phase place of f crossing is to the phase differential of the 2nd phase place of g crossing;

φ _{(g, 2), (g, 4)}be that the 2nd phase place of g crossing is to the phase differential of the 4th phase place of g crossing;

φ _{(g, 4), (e, 4)}be that the 4th phase place of g crossing is to the phase differential of the 4th phase place of e crossing;

φ _{(e, 4), (e, 2)}be that the 4th phase place of e crossing is to the phase differential of the 2nd phase place of e crossing;

(II) can obtain according to A formula:

φ _(e,2),(f,4)＝(t _ef+0.5γ _e,2L _e-0.5γ _f,4L _f)z+w _e,2-w _f,4+0.5(γ _f,4-γ _e,2)-I ₅,

φ _{(f, 2), (g, 2)}=(t _fg+ 0.5 γ _{g, 2}l _g-0.5 γ _{f, 2}l _f) z+v _{g, 2}-v _{f, 2}+ 0.5 (γ _{g, 2}-γ _{f, 2})-I ₆, this formula group is F formula

φ _(g,4),(e,4)＝(t _ge+0.5γ _e,4L _e-0.5γ _g,4L _g)z+v _e,4-v _g,4+0.5(γ _g,4-γ _e,4)-I ₇；

Group, wherein:

T _efbe the route time of e crossing to f crossing, unit is second;

T _fgbe the route time of f crossing to g crossing, unit is second;

T _gebe the route time of g crossing to e crossing, unit is second;

γ _{e, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{f, 4}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing;

γ _{g, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of g crossing of g crossing;

γ _{f, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing;

γ _{e, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{g, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of g crossing of g crossing;

L _e, L _fand L _din one-period, for e crossing, all phase places in f crossing and g crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _e, L _fand L _dall equal and value is 16 seconds;

W _{e, 2}be the forward green wave band position of the 2nd phase place of e crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{f, 4}be the forward green wave band position of the 4th phase place of f crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{g, 2}be the reverse green wave band position of the 2nd phase place of g crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights start;

V _{f, 2}be the reverse green wave band position of the 4th phase place of f crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights start;

V _{e, 4}refer to the reverse green wave band position of the 4th phase place of e crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{g, 4}refer to the reverse green wave band position of the 4th phase place of g crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₅refer to the most approaching but be less than (t _ef+ 0.5 γ _{e, 2}l _e-0.5 γ _{f, 4}l _f) z+w _{e, 2}-w _{f, 4}+ 0.5 (γ _{f, 4}-γ _{e, 2}) value integer;

I ₆refer to the most approaching but be less than (t _fg+ 0.5 γ _{g, 2}l _g-0.5 γ _{f, 2}l _f) z+v _{g, 2}-v _{f, 2}+ 0.5 (γ _{g, 2}-γ _{f, 2}) value integer;

I ₇refer to the most approaching but be less than (t _ge+ 0.5 γ _{e, 4}l _e-0.5 γ _{g, 4}l _g) z+v _{e, 4}-v _{g, 4}+ 0.5 (γ _{g, 4}-γ _{e, 4}) value integer;

(III) determines equation

$\begin{array}{c}{\mathrm{\φ}}_{(e,4)(e,2)}=1+t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)({\mathrm{\γ}}_{e,1}-{\mathrm{\γ}}_{e,1}{L}_{e}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,2}{L}_{e}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,4}+{\mathrm{\γ}}_{e,4}{L}_{e}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\γ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(f,4)(f,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)({\mathrm{\γ}}_{f,1}-{\mathrm{\γ}}_{f,1}{L}_{f}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,2}{L}_{f}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,4}+{\mathrm{\γ}}_{f,4}{L}_{f}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(g,2)(g,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)({\mathrm{\γ}}_{g,3}-{\mathrm{\γ}}_{g,3}{L}_{g}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,2}{L}_{g}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,4}+{\mathrm{\γ}}_{g,4}{L}_{g}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)({-\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),\end{array}$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(f,4)(f,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),$

${\mathrm{\φ}}_{(g,2)(g,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)(-{\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),$

${\mathrm{\φ}}_{(e,4)(e,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),$

This formula group is defined as G formula group, wherein:

γ _{e, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{e, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{e, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{f, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of f crossing;

γ _{g, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of g crossing of g crossing;

(IV), by F formula group and G formula group substitution E formula, draws loop constraint formulations:

(3t _L+t _ef-γ _f,2L _f+t _fg-γ _g,4L _g-γ _g,2L _g+λ(γ _e,1)(-γ _e,1L _e+t _L)+λ(γ _f,3)(-γ _f,3L _f+t _L)+λ(γ _g,1)(-γ _g,1L _g+t _L))z+w _e,2-w _f,2+w _f,4-w _g,4-v _g,2+v _e,4-I＝-γ _f,2-γ _g,4-γ _g,2-λ(γ _e,1)γ _e,1-λ(γ _f,3)γ _f,3-λ(γ _g,1)γ _g,1；

(V) coordinates to control computing machine by data input area detected step described in claim 1 (), the loop constraint formulations of recycling step (IV), calculate in the second control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing in the second control area.

3. a regional coordination traffic control method, is characterized in that:

You Duotiao track, described region connects five crossing compositions, each crossing is the cross junction being made up of two mutual square crossings in track, wherein four cross junctions are regularly arranged, and track connects first of four right-angled intersection interruption-forming groined types and controls subregion; Another crossing is the straight line extension in a track therein, in this crossing, orthogonal two crossings connect respectively two crossings on parallel track, two groups of upstreams, and another crossing is connected to form the second control subregion by two crossings on parallel track, two groups of Yu Qi upstreams, track;

Four bearing of trends of cross junction are respectively with A, C, B and D representative, and the intersection center of cross junction represents with O; In described cross junction, two tracks of square crossing are all back and forth two way zones mutually, wherein a track is to be kept straight on and keep straight on to the two way zone back and forth of A through O to B or by B through O by A, and another perpendicular track is to be kept straight on and keep straight on to the two way zone back and forth of C through O to D or by D through O by C;

Effective controlling party that there are 8 Vehicle Driving Cycles each crossing to, respectively:

With numeral 1 represent B drive towards controlling party that O place left-hand rotation drives towards D to,

With numeral 2 represent A drives towards B controlling party through O place craspedodrome to,

With numeral 3 represent D drive towards controlling party that O place left-hand rotation drives towards A to,

With numeral 4 represent C drives towards D controlling party through O place craspedodrome to,

With numeral 5 represent A drive towards controlling party that O place left-hand rotation drives towards C to,

With numeral 6 represent B drives towards A controlling party through O place craspedodrome to,

With numeral 7 represent C drive towards controlling party that O place craspedodrome drives towards B to,

With numeral 8 represent D drives towards C controlling party through O place craspedodrome to,

Above-mentioned 8 controlling parties are in respectively corresponding 8 phase places of control field, and the 1st phase place, the 2nd phase place, the 3rd phase place, the 4th phase place, the 5th phase place, the 6th phase place, the 7th phase place and the 8th phase place are respectively with above-mentioned 1,2,3,4,5,6,7 and 8 corresponding;

The required hardware of this coordination traffic control method comprises multiple detecting devices, many traffic signal controlling machines, regional coordinations control database server, regional coordination control computing machine, traffic lights; The control step of this coordination traffic control method is as follows:

(1) multiple detecting devices are arranged on respectively to above-mentioned five crossings, the collection of the detecting device that is arranged on crossing to day part traffic data, the traffic data collecting is sent to traffic signal controlling machine, and traffic signal controlling machine connects the traffic lights of each crossing;

(2) regional coordination that traffic signal controlling machine uploads to control center by Ethernet or GPRS network by the traffic data server of controlling database;

(3) the regional coordination control computing machine that is arranged in control center extracts the control database traffic data of server of regional coordination and processes and predict;

According to the traffic flow data that gathers each time period, the transport need of calculating each phase place, i.e. flow rate, the calculation procedure of flow rate is as follows:

1. first detect the time headway at stop line place by the detecting device of each crossing;

2. the traffic flow data that gathers each time period is processed, calculated time headway, adopt h to represent average headway, unit: second;

3. adopt v to represent transport need, i.e. flow rate, calculates flow rate by following formula:

$v=3600\frac{1}{h},$

Above-mentioned time headway in 1. refers in the time of start, the time interval between adjacent two car headstocks;

4. detect and calculate the saturation volume rate of each crossing phase place, saturation volume rate represents with s;

The data that step ()～(three) gather and calculate comprise: the time gap that the route time data between each phase data, Adjacent Intersections, positive negative direction green wave band center start to each phase place green light, flow rate and the saturation volume rate data of each phase place;

(4) flow rate of each phase place calculating in (three) and saturation volume rate data are inputed to regional coordination control computing machine, regional coordination control computing machine is processed the dynamic flow rate in each moment and saturation volume rate data again, export the maximum green time of each crossing, maximum green time g ^maxrepresent the maximum green time g of each crossing ^maxspecifically comprise the maximum green time of the 1st phase place and the 5th phase place, the 2nd phase place and the 6th phase place, the 3rd phase place and the 7th phase place and the 4th phase place and the 8th phase place;

(5) above-mentioned maximum green time is retrained, constraint condition is:

If 10≤g ^max≤ 60, value g ^max; If g ^maxbe less than 10 seconds, get 10 seconds; If g ^maxbe greater than 60 seconds, get 60 seconds;

(6) determine region wherein a crossing for reference to crossing, the data that detect and calculate gained in step (three) are inputed to regional coordination control computing machine and carry out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine the cycle initial time of coordination phase place in crossing in region;

The cycle start time information of each crossing and each maximum green time information are delivered in the traffic signal controlling machine at crossing, traffic signal controlling machine is according to cycle initial time and maximum green time, carry out the control of dynamic traffic signals regional coordination, export and control the traffic lights bright light moment of each traffic lights;

In described step (four), each maximum green time draws by following method processing:

(1) determine phase sequence according to the left-hand rotation rate of each direction: according to left-hand rotation rate and threshold value k ₂relation, in two phase place sequence, three phase sequence a, three phase sequence b and four phase sequences, select and determine a phase sequence;

(2) calculate maximum green time: according to the flow rate of each phase place and saturation volume rate, and (1) determines selection definite phase sequence, just adopt corresponding formula to calculate the maximum green time of each phase place below, wherein two phase place sequence adopts following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+2+5+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+4+7+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Three phase sequence a adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+4+7+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\left\{\mathrm{1,2,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Three phase sequence b adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i\∈\{2,3,4\}}{\mathrm{\Σ}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+2+5+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i\∈\left\{\mathrm{2,3,4}\right\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i\∈\{2,3,4\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i\∈\{2,3,4\}}{\mathrm{\Σ}}\max (v_i,v_{i+4})}(C-L),$

Four phase sequences adopt following computing formula:

$C=\frac{X_{d}L}{X_d-\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (\frac{v_i}{s_i},\frac{v_{i+4}}{s_{i+4}})},$

$g_{1+5}^{\max }=\frac{\max (v_1,v_5)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{2+6}^{\max }=\frac{\max (v_2,v_6)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{3+7}^{\max }=\frac{\max (v_3,v_7)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

$g_{4+8}^{\max }=\frac{\max (v_4,v_8)}{\underset{i=1}{\overset{4}{\mathrm{\Σ}}}\max (v_i,v_{i+4})}(C-L),$

Wherein, X _dfor the crucial v/c ratio of expecting, value is 0.9,

V _ibe i ∈ 1,2 ..., the transport need of 8} phase place, unit :/hour;

S _ibe i ∈ 1,2 ..., the saturation volume rate of 8} phase place, unit :/hour;

The total losses time in L one-period, unit: second, equal to be multiplied by lost time phase place number, to get lost time 4 seconds, phase place number is 4, here L=4*4=16 second;

C Cycle Length, unit: second;

Use g ^maxrepresent maximum green time, unit: second, wherein:

the maximum green time of phase place 1+2+5+6;

the maximum green time of phase place 3+4+7+8;

the maximum green time of phase place 1+5;

the maximum green time of phase place 2+6;

the maximum green time of phase place 3+7;

the maximum green time of phase place 4+8.

4. a kind of regional coordination traffic control method according to claim 3, is characterized in that:

The track that described many continuous first places join forms main line, and described region connects five crossings by 4 main lines and forms, and five crossings are respectively the 1st crossing, the 2nd crossing, the 3rd crossing, the 4th crossing and the 5th crossing; Article 4, main line is respectively: the 1st main line that connects successively the 1st crossing, the 2nd crossing, the 3rd crossing; Connect successively the 2nd main line of the 4th crossing, the 5th crossing, the 3rd crossing; Connect the 3rd main line of the 4th crossing, the 1st crossing; Connect the 4th main line of the 5th crossing, the 2nd crossing, on every main line, arrange by positive dirction crossing;

Wherein between the 1st crossing, the 2nd crossing, the 4th crossing and the 5th crossing, interconnective each track forms in the first control subregion, and the track that connects the 2nd crossing, the 5th crossing and the 3rd crossing forms second and controls subregion;

First controls in subregion:

The track that connects the 4th crossing with the 1st crossing is defined as section 14;

The track that connects the 5th crossing with the 4th crossing is defined as section 45;

The track that connects the 2nd crossing with the 5th crossing is defined as section 52;

The track that connects the 1st crossing with the 2nd crossing is defined as section 21;

Section 14, section 45, section 52 and section 21 form the first loop;

Second controls in subregion:

The track that connects the 5th crossing with the 2nd crossing is defined as section 25;

The track that connects the 3rd crossing with the 5th crossing is defined as section 53;

The track that connects the 2nd crossing with the 3rd crossing is defined as section 32;

Section 25, section 53 and section 32 form the second loop;

In described step (six), regional coordination control computing machine carries out data processing, draw in subregion each crossing and with reference to the phase differential between crossing, according to the phase differential calculating, determine that the cycle initial time of coordination phase place in crossing in region is to be undertaken by following two loop constrained procedures:

The loop constrained procedure of described the first loop is as follows:

(2) determine that constraint condition is as follows:

Will $\begin{array}{c}{\mathrm{\φ}}_{(a,2),(b,2)}+{\mathrm{\φ}}_{(b,2),(b,4)}+{\mathrm{\φ}}_{(b,4),(c,4)}+{\mathrm{\φ}}_{(c,4),(c,2)}\\ +{\mathrm{\φ}}_{(c,2),(d,2)}+{\mathrm{\φ}}_{(d,2),(d,4)}+{\mathrm{\φ}}_{(d,4),(a,4)}{\mathrm{\φ}}_{(a,4),(a,2)=I,}\end{array}$ This formula is defined as A formula, wherein:

φ _{(a, 2), (b, 2)}be that the 2nd phase place of a crossing is to the phase differential of the 2nd phase place of b crossing;

φ _{(b, 2), (b, 4)}be that the 2nd phase place of b crossing is to the phase differential of the 4th phase place of b crossing;

φ _{(b, 4), (c, 4)}be that the 4th phase place of b crossing is to the phase differential of the 4th phase place of c crossing;

φ _{(c, 4), (c, 2)}be that the 4th phase place of c crossing is to the phase differential of the 2nd phase place of c crossing;

φ _{(c, 2), (d, 2)}be that the 2nd phase place of c crossing is to the phase differential of the 2nd phase place of d crossing;

φ _{(d, 2), (d, 4)}be that the 2nd phase place of d crossing is to the phase differential of the 4th phase place of d crossing;

φ _{(d, 4), (a, 4)}be that the 4th phase place of d crossing is to the phase differential of the 4th phase place of a crossing;

φ _{(a, 4), (a, 2)}be that the 4th phase place of a crossing is to the phase differential of the 2nd phase place of a crossing;

The value of above-mentioned I is integer;

Wherein a, b, c and d get respectively one of them numeral in 1,2,4 and 5, but will ensure to have upstream and downstream relation between a and b, b and c, c and d and d and a, are all adjacent crossings in the first loop section;

φ _(a,2),(b,2)＝(t _ab+0.5γ _a,2L _a-0.5γ _b,2L _b)z+w _a,2-w _b,2+0.5(γ _b,2-γ _a,2)-I ₁,

φ _(b,4),(c,4)＝(t _bc+0.5γ _b,4L _b-0.5γ _c,4L _c)z+w _b,4-w _c,4+0.5(γ _c,4-γ _b,4)-I ₂,

φ _(c,2),(d,2)＝(t _cd+0.5γ _d,2L _d-0.5γ _c,2L _c)z+v _d,2-v _c,2+0.5(γ _d,2-γ _c,2)-I ₃,

φ _{(d, 4), (a, 4)}=(t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4})-I ₄, this formula group is

B formula group, wherein:

Z refers to the inverse in cycle, is the unknown quantity that needs restraint and calculate in above-mentioned formula;

T _abit is the route time of a crossing to b crossing;

T _bcit is the route time of b crossing to c crossing;

T _cdit is the route time of c crossing to d crossing;

T _dait is the route time of d crossing to a crossing;

γ _{a, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{b, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of b crossing of b crossing;

γ _{c, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of d crossing of d crossing;

γ _{c, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{a, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{d, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of d crossing of d crossing;

L _a, L _b, L _cand L _din one-period, for a crossing, b crossing, all phase places in c crossing and d crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _a, L _b, L _cand L _dall equate and value 16 seconds;

W _{a, 2}be the forward green wave band position of the 2nd phase place of a crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 2}be the forward green wave band position of the 2nd phase place of b crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{b, 4}be the forward green wave band position of the 4th phase place of b crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

W _{c, 4}be the forward green wave band position of the 4th phase place of c crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{d, 2}refer to the reverse green wave band position of the 2nd phase place of d crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{c, 2}refer to the reverse green wave band position of the 2nd phase place of c crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights finish;

V _{a, 4}refer to the reverse green wave band position of the 4th phase place of a crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{d, 4}refer to the reverse green wave band position of the 4th phase place of d crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₁refer to the most approaching but be less than (t _ab+ 0.5 γ _{a, 2}l _a-0.5 γ _{b, 2}l _b) z+w _{a, 2}-w _{b, 2}+ 0.5 (γ _{b, 2-}γ _{a, 2}) value integer;

I ₂refer to the most approaching but be less than (t _bc+ 0.5 γ _{b, 4}l _b-0.5 γ _{c, 4}l _c) z+w _{b, 4}-w _{c, 4}+ 0.5 (γ _{c, 4}-γ _{b, 4}) value integer;

I ₃refer to the most approaching but be less than (t _cd+ 0.5 γ _{d, 2}l _d-0.5 γ _{c, 2}l _c) z+v _{d, 2}-v _{c, 2}+ 0.5 (γ _{d, 2}-γ _{c, 2}) value integer;

I ₄refer to the most approaching but be less than (t _da+ 0.5 γ _{a, 4}l _a-0.5 γ _{d, 4}l _d) z+v _{a, 4}-v _{d, 4}+ 0.5 (γ _{d, 4}-γ _{a, 4}) value integer;

(3) determine equation

$\begin{array}{c}{\mathrm{\φ}}_{(a,4)(a,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)({\mathrm{\γ}}_{a,1}-{\mathrm{\γ}}_{a,1}{L}_{a}z+t_{L}z)-\frac{1}{2}(1+{\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,2}{L}_{a}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{a,4}+{\mathrm{\γ}}_{a,4}{L}_{a}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(b,2)(b,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)({\mathrm{\γ}}_{b,3}-{\mathrm{\γ}}_{b,3}{L}_{b}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,2}{L}_{b}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{b,4}+{\mathrm{\γ}}_{b,4}{L}_{b}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(c,4)(c,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)({\mathrm{\γ}}_{c,1}-{\mathrm{\γ}}_{c,1}{L}_{c}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,2}{L}_{c}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{c,4}+{\mathrm{\γ}}_{c,4}{L}_{c}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(d,2)(d,4)}=1+t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)({\mathrm{\γ}}_{d,3}-{\mathrm{\γ}}_{d,3}{L}_{d}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,2}{L}_{d}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{d,4}+{\mathrm{\γ}}_{d,4}{L}_{d}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),\end{array}$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(a,4),(a,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right)(-{\mathrm{\γ}}_{a,1}{L}_a+t_L)-\frac{1}{2}{\mathrm{\γ}}_{a,2}{L}_a-\frac{1}{2}{\mathrm{\γ}}_{a,4}{L}_a)z+\mathrm{\λ}\left({\mathrm{\γ}}_{a,1}\right){\mathrm{\γ}}_{a,1}+\frac{1}{2}({\mathrm{\γ}}_{a,2}+{\mathrm{\γ}}_{a,4}),$

${\mathrm{\φ}}_{(b,2)(b,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right)(-{\mathrm{\γ}}_{b,3}{L}_b+t_L)-\frac{1}{2}{\mathrm{\γ}}_{b,2}{L}_b-\frac{1}{2}{\mathrm{\γ}}_{b,4}{L}_b)z+\mathrm{\λ}\left({\mathrm{\γ}}_{b,3}\right){\mathrm{\γ}}_{b,3}+\frac{1}{2}({\mathrm{\γ}}_{b,2}+{\mathrm{\γ}}_{b,4}),$

${\mathrm{\φ}}_{(c,4)(c,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right)(-{\mathrm{\γ}}_{c,1}{L}_c+t_L)-\frac{1}{2}{\mathrm{\γ}}_{c,2}{L}_c-\frac{1}{2}{\mathrm{\γ}}_{c,4}{L}_c)z+\mathrm{\λ}\left({\mathrm{\γ}}_{c,1}\right){\mathrm{\γ}}_{c,1}+\frac{1}{2}({\mathrm{\γ}}_{c,2}+{\mathrm{\γ}}_{c,4}),$

${\mathrm{\φ}}_{(d,2)(d,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right)(-{\mathrm{\γ}}_{d,3}{L}_d+t_L)-\frac{1}{2}{\mathrm{\γ}}_{d,2}{L}_d-\frac{1}{2}{\mathrm{\γ}}_{d,4}{L}_d)z+\mathrm{\λ}\left({\mathrm{\γ}}_{d,3}\right){\mathrm{\γ}}_{d,3}+\frac{1}{2}({\mathrm{\γ}}_{d,2}+{\mathrm{\γ}}_{d,4}),$

This formula group is defined as to C formula group, wherein:

φ _{(a, 2), (a, 4)}be that the 2nd phase place of a crossing is to the phase differential of the 4th phase place of a crossing;

T _lrefer to the lost time of a phase place, get here 4 seconds;

γ _{a, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of a crossing of a crossing;

γ _{b, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of d crossing of b crossing;

γ _{c, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of c crossing of c crossing;

γ _{d, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of c crossing of d crossing;

(4) by B formula group and C formula group substitution A formula, draw loop constraint formulations:

(4t _L+t _ab-γ _b,2L _b+t _bc-γ _c,4L _c+t _cd-γ _c,2L _c+t _da-γ _d,4L _d+λ(γ _a,1)(-γ _a,1L _a+t _L)+λ(γ _b,3)(-γ _b,3L _b+t _L)+λ(γ _c,1)(-γ _c,1L _c+t _L)+λ(γ _d,3)(-γ _d,3L _b+t _L))z+w _a,2-w _b,2+w _b,4-w _c,4-v _c,2+v _d,2-v _d,4+v _a,4-I＝-γ _b,2-γ _c,4-γ _c,2-γ _d,4-λ(γ _a,1)γ _a,1-λ(γ _b,3)γ _b,3-λ(γ _c,1)γ _c,1-λ(γ _d,3)γ _d,3,

(5) data input area detected in the data that step described in claim 3 ()～(three) gather and calculate is coordinated to control computing machine, recycling loop constraint formulations, calculate in the first control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing;

The loop constrained procedure of described the second loop is as follows:

(I). will $\begin{array}{c}{\mathrm{\φ}}_{(e,2),(f,4)}+{\mathrm{\φ}}_{(f,4),(f,2)}+{\mathrm{\φ}}_{(f,2),(g,2)}+{\mathrm{\φ}}_{(g,2),(g,4)}\\ +{\mathrm{\φ}}_{(g,4),(e,4)}+{\mathrm{\φ}}_{(e,4),(e,2)}=I,\end{array}$ Formula is defined as E formula, wherein:

φ _{(e, 2), (f, 2)}be that the 2nd phase place of e crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 4), (f, 2)}be that the 4th phase place of f crossing is to the phase differential of the 2nd phase place of f crossing;

φ _{(f, 2), (g, 2)}be that the 2nd phase place of f crossing is to the phase differential of the 2nd phase place of g crossing;

φ _{(g, 2), (g, 4)}be that the 2nd phase place of g crossing is to the phase differential of the 4th phase place of g crossing;

φ _{(g, 4), (e, 4)}be that the 4th phase place of g crossing is to the phase differential of the 4th phase place of e crossing;

φ _{(e, 4), (e, 2)}be that the 4th phase place of e crossing is to the phase differential of the 2nd phase place of e crossing;

(II) can obtain according to A formula:

φ _(e,2),(f,4)＝(t _ef+0.5γ _e,2L _e-0.5γ _f,4L _f)z+w _e,2-w _f,4+0.5(γ _f,4-γ _e,2)-I ₅,

φ _{(f, 2), (g, 2)}=(t _fg+ 0.5 γ _{g, 2}l _g-0.5 γ _{f, 2}l _f) z+v _{g, 2}-v _{f, 2}+ 0.5 (γ _{g, 2}-γ _{f, 2})-I ₆, this formula group is F formula

φ _(g,4),(e,4)＝(t _ge+0.5γ _e,4L _e-0.5γ _g,4L _g)z+v _e,4-v _g,4+0.5(γ _g,4-γ _e,4)-I ₇；

Group, wherein:

T _efbe the route time of e crossing to f crossing, unit is second;

T _fgbe the route time of f crossing to g crossing, unit is second;

T _gebe the route time of g crossing to e crossing, unit is second;

γ _{e, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{f, 4}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing;

γ _{g, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of g crossing of g crossing;

γ _{f, 2}the ratio of the flow rate of the 2nd phase place and all phase place flow rate sums of f crossing of f crossing;

γ _{e, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{g, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of g crossing of g crossing;

L _e, L _fand L _din one-period, for e crossing, all phase places in f crossing and g crossing, due to Phase-switching, and that time that causes crossing not used by any direction wagon flow, namely sum lost time of each phase place; L _e, L _fand L _dall equal and value is 16 seconds;

W _{e, 2}be the forward green wave band position of the 2nd phase place of e crossing, be defined as the time gap that forward green wave band center to the 2 phase place green lights start;

W _{f, 4}be the forward green wave band position of the 4th phase place of f crossing, be defined as the time gap that forward green wave band center to the 4 phase place green lights start;

V _{g, 2}be the reverse green wave band position of the 2nd phase place of g crossing, be defined as the time gap that reverse green wave band center to the 2 phase place green lights start;

V _{f, 2}be the reverse green wave band position of the 4th phase place of f crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights start;

V _{e, 4}refer to the reverse green wave band position of the 4th phase place of e crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

V _{g, 4}refer to the reverse green wave band position of the 4th phase place of g crossing, be defined as the time gap that reverse green wave band center to the 4 phase place green lights finish;

I ₅refer to the most approaching but be less than (t _ef+ 0.5 γ _{e, 2}l _e-0.5 γ _{f, 4}l _f) z+w _{e, 2}-w _{f, 4}+ 0.5 (γ _{f, 4}-γ _{e, 2}) value integer;

I ₆refer to the most approaching but be less than (t _fg+ 0.5 γ _{g, 2}l _g-0.5 γ _{f, 2}l _f) z+v _{g, 2}-v _{f, 2}+ 0.5 (γ _{g, 2}-γ _{f, 2}) value integer;

I ₇refer to the most approaching but be less than (t _ge+ 0.5 γ _{e, 4}l _e-0.5 γ _{g, 4}l _g) z+v _{e, 4}-v _{g, 4}+ 0.5 (γ _{g, 4}-γ _{e, 4}) value integer;

(III) determines equation

$\begin{array}{c}{\mathrm{\φ}}_{(e,4)(e,2)}=1+t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)({\mathrm{\γ}}_{e,1}-{\mathrm{\γ}}_{e,1}{L}_{e}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,2}{L}_{e}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{e,4}+{\mathrm{\γ}}_{e,4}{L}_{e}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\γ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(f,4)(f,2)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)({\mathrm{\γ}}_{f,1}-{\mathrm{\γ}}_{f,1}{L}_{f}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,2}{L}_{f}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{f,4}+{\mathrm{\γ}}_{f,4}{L}_{f}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),\end{array}$

$\begin{array}{c}{\mathrm{\φ}}_{(g,2)(g,4)}=1+t_{L}z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)({\mathrm{\γ}}_{g,3}-{\mathrm{\γ}}_{g,3}{L}_{g}z+t_{L}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,2}{L}_{g}z)-\frac{1}{2}(1-{\mathrm{\γ}}_{g,4}+{\mathrm{\γ}}_{g,4}{L}_{g}z)\\ =(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)({-\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),\end{array}$

$\mathrm{\λ}\left(x\right)=\left\{\begin{array}{cc}0& \mathrm{ifx}=0,\\ 1& \mathrm{ifx}\≠0,\end{array}\right.$

That is:

${\mathrm{\φ}}_{(f,4)(f,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right)(-{\mathrm{\γ}}_{f,1}{L}_f+t_L)-\frac{1}{2}{\mathrm{\γ}}_{f,2}{L}_f-\frac{1}{2}{\mathrm{\γ}}_{f,4}{L}_f)z+\mathrm{\λ}\left({\mathrm{\γ}}_{f,1}\right){\mathrm{\γ}}_{f,1}+\frac{1}{2}({\mathrm{\γ}}_{f,2}+{\mathrm{\γ}}_{f,4}),$

${\mathrm{\φ}}_{(g,2)(g,4)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right)(-{\mathrm{\γ}}_{g,3}{L}_g+t_L)-\frac{1}{2}{\mathrm{\γ}}_{g,2}{L}_g-\frac{1}{2}{\mathrm{\γ}}_{g,4}{L}_g)z+\mathrm{\λ}\left({\mathrm{\γ}}_{g,3}\right){\mathrm{\γ}}_{g,3}+\frac{1}{2}({\mathrm{\γ}}_{g,2}+{\mathrm{\γ}}_{g,4}),$

${\mathrm{\φ}}_{(e,4)(e,2)}=(t_L+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right)(-{\mathrm{\γ}}_{e,1}{L}_e+t_L)-\frac{1}{2}{\mathrm{\γ}}_{e,2}{L}_e-\frac{1}{2}{\mathrm{\γ}}_{e,4}{L}_e)z+\mathrm{\λ}\left({\mathrm{\γ}}_{e,1}\right){\mathrm{\γ}}_{e,1}+\frac{1}{2}({\mathrm{\γ}}_{e,2}+{\mathrm{\γ}}_{e,4}),$

This formula group is defined as G formula group, wherein:

γ _{e, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{e, 4}the ratio of the flow rate of the 4th phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{e, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of e crossing;

γ _{f, 1}the ratio of the flow rate of the 1st phase place and all phase place flow rate sums of e crossing of f crossing;

γ _{g, 3}the ratio of the flow rate of the 3rd phase place and all phase place flow rate sums of g crossing of g crossing;

(IV), by F formula group and G formula group substitution E formula, draws loop constraint formulations:

(3t _L+t _ef-γ _f,2L _f+t _fg-γ _g,4L _g-γ _g,2L _g+λ(γ _e,1)(-γ _e,1L _e+t _L)+λ(γ _f,3)(-γ _f,3L _f+t _L)+λ(γ _g,1)(-γ _g,1L _g+t _L))z+w _e,2-w _f,2+w _f,4-w _g,4-v _g,2+v _e,4-I＝-γ _f,2-γ _g,4-γ _g,2-λ(γ _e,1)γ _e,1-λ(γ _f,3)γ _f,3-λ(γ _g,1)γ _g,1；

(V) coordinates to control computing machine by data input area detected step described in claim 3 (), the loop constraint formulations of recycling step (IV), calculate in the second control area each crossing and with reference to the phase differential between crossing, determine the cycle initial time of each crossing in the second control area.