CN103208193A - Method for coordinating and controlling adjacent intersection signals of city by using video detection data - Google Patents

Abstract

The invention discloses a method for coordinating and controlling adjacent intersection signals of a city by using video detection data, relates to the method for coordinating and controlling the adjacent two intersection signals of the city, belongs to the field of signal control, and solves the problems of great coordination phase path traffic statistical error, inaccurate coordination and control scheme and the like caused by adopting induction coil detection data in the conventional signal coordinating and controlling method. The method comprises the following steps of: acquiring cross section images of stop lines of entrance lanes of each intersection by using a signal machine through a video detector; acquiring the number of vehicles according to the cross section images, and calculating traffic flow parameters according to the number of the vehicles; performing predicting calculation on the arrival traffic flow of each entrance lane; performing predicting calculation on the average operation speed of motor vehicles of a road section; calculating signal coordinating and controlling timing parameters; and acquiring a signal coordination and control scheme according to the signal coordinating and controlling timing parameters, and transmitting control signals to traffic signal lamps to realize the coordination and the control of signals. The method can be widely applied to the coordination and the control of the intersections of cities.

Description

A kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data

Technical field

The present invention relates to the adjacent two intersection signal control method for coordinating in a kind of city, belong to the signal controlling field.

Background technology

At present, each city traffic stream operation conditions of China goes from bad to worse, and has seriously hindered The development in society and economy.The coordinating control of traffic signals technology can effectively improve road network wagon flow on-road efficiency, reduce the vehicle delay as a kind of modern traffic administration means.

The essence of coordinating control of traffic signals is that the wagon flow of coordinating to coordinate between the phase place adjacent crossing is moved.Because coordinating the wagon flow of phase place is the chief component of wagon flow on the arterial street, has characteristics such as flow is big, wagon flow is intensive, just can the whole wagon flow mean delay that reduces on the arterial highway so reduce the wagon flow delay of coordinating phase place.Wagon flow that phase place rolls away from is coordinated in crossing operational process downstream in the crossing, upstream, has the non-coordination phase place that fraction drives towards the downstream, and remaining major part is driven towards the coordination phase place in downstream, and what signal coordinating control was coordinated is remaining most of wagon flow.Therefore, have only accurately the operating path of coordinating the phase place wagon flow is calculated, obtain and arrive the flow that phase place is coordinated in the downstream, could set up signal coordinating control scheme exactly.Yet existing signal coordinating control method is each import track laying inductive coil detecting device in the crossing all, can only detect information such as flow that each import track section arrives, speed, can't obtain the path flow between crossing, upstream coordination phase place and crossing, the downstream coordination phase place, think that when modelled signal timing scheme the wagon flow that crossing, upstream coordination phase place is rolled away from has all arrived crossing, downstream coordination phase place.This and reality obviously are not inconsistent, and have calculated the crossing, downstream too much and have coordinated the flow that phase place arrives, and the signal time distributing conception that causes generating is not preferred plan, have reduced and have coordinated the control benefit.

Summary of the invention

The present invention solves existing signal coordinating control method and adopts inductive coil detection data to cause coordinating problems such as phase path traffic statistics error is big, coordination control scheme out of true, proposes a kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data.

A kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data, described method is based on that following equipment realizes: each importer of crossing to be controlled is to all laying a video detector, video detector is used for obtaining the stop line cross-section image, and the video information output terminal of each video detector all links to each other with the video information input end of teleseme;

It comprises the steps:

Step 1: teleseme obtains each crossing inlet track stop line cross-section image by video detector;

Step 2: each crossing inlet track stop line sectional drawing that obtains according to teleseme obtains crosses the vehicle number that each track, crossing to be controlled is passed through in the statistical interval, and the vehicle number that passes through according to each track, crossing to be controlled calculates traffic flow parameter, and described traffic flow parameter comprises the path flow between crossing inlet to be controlled track flow, crossing inlet to be controlled track and the adjacent crossing inlet track, the average running speed that crossing inlet to be controlled track vehicle is crossed stop line;

Step 3: each import track, crossing to be controlled is arrived magnitude of traffic flow carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived magnitude of traffic flow to carry out the process of prediction and calculation be to follow to coordinate heavy traffic stream principle and determine that the crossing coordinates to carry out after the phase place process of prediction and calculation;

Step 4: motor vehicle average running speed prediction and calculation is carried out in the highway section to each import track, crossing to be controlled and coordination phasetophase thereof;

Step 5: each import track, crossing to be controlled that obtains according to step 3 arrives each import track, crossing to be controlled that traffic flow forecasting result and step 4 obtain and the motor vehicle average running speed of coordinating the highway section of phasetophase thereof and predicts the outcome and carry out signal coordinating control timing parameter and calculate; Described signal coordinating control timing parameter comprises described common period duration, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled, crossing to be controlled and coordinates the phase differential of phase place;

Step 6: coordinate the control scheme according to signal coordinating control timing parameter picked up signal, and control signal is transferred to the control of traffic lights realization signal coordinating;

Described realization signal coordinating is controlled to be: common period, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled are carried out in crossing to be controlled and adjacent crossing thereof, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the green light of coordinating phase place in adjacent crossing with crossing to be controlled of the bright moment phase differential that to open the bright time of differing in the moment be two crossings.

The present invention has realized utilizing the signal coordinating control forwarding method of video detection data, has avoided existing signal coordinating control method to adopt inductive coil to detect data and has caused coordinating problems such as phase path traffic statistics error is big, coordination control scheme out of true.

A kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data of the present invention, the motor vehicle that can accurately obtain each import track, crossing to be controlled arrives flow, adjacent crossing and coordinates critical datas such as motor road run-off, highway section motor vehicle average running speed between the phase place, make control accuracy improve 18%, therefore the signal coordinating control scheme for the science of generation has significance.

Adjacent signals of the present invention crossing control method for coordinating has been introduced correction coefficient when optimizing optimum phase difference, this correction coefficient is relevant with motor road run-off size and the motor vehicle due in of coordinating phase place, simplified the calculation process of optimum phase difference on the one hand, made computing velocity improve 43%; Can have vital role for the accuracy and the self-adaptation level that improve signal coordinating control method along with the change dynamics of traffic behavior is upgraded the control scheme of coordinating on the other hand.

Description of drawings

Fig. 1 utilizes video to detect the process flow diagram of the adjacent intersection signal control method for coordinating in city of data for the present invention is a kind of;

Fig. 2 utilizes video to detect the crossing structural representation of the adjacent intersection signal control method for coordinating in city of data for the present invention is a kind of;

Fig. 3 is specific embodiment described Song Shan road and crossing, the Yellow River road, Song Shan road and Huaihe Road crossing structural representation;

Fig. 4 is the phase place phase sequence synoptic diagram of the described crossing 1 of specific embodiment and the control of crossing 2 four phase signals.

Embodiment

Embodiment one, in conjunction with Fig. 1 this embodiment is described.A kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data, described method is based on that following equipment realizes: each importer of crossing to be controlled is to all laying a video detector, video detector is used for obtaining the stop line cross-section image, and the video information output terminal of each video detector all links to each other with the video information input end of teleseme;

It comprises the steps:

Step 1: teleseme obtains each crossing inlet track stop line cross-section image by video detector;

Step 2: each crossing inlet track stop line sectional drawing that obtains according to teleseme obtains crosses the vehicle number that each track, crossing to be controlled is passed through in the statistical interval, and the vehicle number that passes through according to each track, crossing to be controlled calculates traffic flow parameter, and described traffic flow parameter comprises the path flow between crossing inlet to be controlled track flow, crossing inlet to be controlled track and the adjacent crossing inlet track, the average running speed that crossing inlet to be controlled track vehicle is crossed stop line;

Step 3: each import track, crossing to be controlled is arrived magnitude of traffic flow carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived magnitude of traffic flow to carry out the process of prediction and calculation be to follow to coordinate heavy traffic stream principle and determine that the crossing coordinates to carry out after the phase place process of prediction and calculation;

Step 4: motor vehicle average running speed prediction and calculation is carried out in the highway section to each import track, crossing to be controlled and coordination phasetophase thereof;

Step 5: each import track, crossing to be controlled that obtains according to step 3 arrives each import track, crossing to be controlled that traffic flow forecasting result and step 4 obtain and the motor vehicle average running speed of coordinating the highway section of phasetophase thereof and predicts the outcome and carry out signal coordinating control timing parameter and calculate; Described signal coordinating control timing parameter comprises described common period duration, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled, crossing to be controlled and coordinates the phase differential of phase place;

Step 6: coordinate the control scheme according to signal coordinating control timing parameter picked up signal, and control signal is transferred to the control of traffic lights realization signal coordinating;

Described realization signal coordinating is controlled to be: common period, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled are carried out in crossing to be controlled and adjacent crossing thereof, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the green light of coordinating phase place in adjacent crossing with crossing to be controlled of the bright moment phase differential that to open the bright time of differing in the moment be two crossings.

Video detection technology is a kind of novel detection technique that occurs in recent years, has carried out widespread adoption at field of traffic.It not only can detect information such as flow on the urban road section, speed, can also obtain the licence plate through each motor vehicle of road section, by the license plate for vehicle of contrast through two sections of upstream and downstream, just can calculate two path flows between the section.This shows that video detects the needs that data can satisfy signal coordinating control, detect data based on video and can set up accurate signal control method for coordinating more.

Concrete steps of the present invention are in detail:

Step 1: teleseme obtains each crossing inlet track stop line cross-section image by video detector;

Step 2: each crossing inlet track stop line sectional drawing that obtains according to teleseme obtains crosses the vehicle number that each track, crossing to be controlled is passed through in the statistical interval, and the vehicle number that passes through according to each track, crossing to be controlled calculates traffic flow parameter, and described traffic flow parameter comprises that crossing inlet to be controlled track flow, crossing inlet to be controlled track and corresponding exit lane path flow and crossing inlet to be controlled track vehicle cross the average running speed of stop line;

(1) computing method of crossing inlet to be controlled track flow:

$Q_{\mathrm{mi}}^h=N_{\mathrm{mi}}^h\×12---\left(1\right)$

Wherein, h is h statistical interval, and mi is the import track i of crossing m to be controlled, and N is the vehicle number of crossing stop line, then

The import track i that represents crossing m to be controlled in h the statistical interval has

Motor vehicle has been crossed stop line;

(2) computing method of crossing inlet track to be controlled and path, adjacent crossing inlet track flow:

$Q_{\mathrm{ij}}^h=N_{\mathrm{ij}}^h\×12---\left(2\right)$

Wherein: N _IjBe that the import track i of h statistical interval crossing m to be controlled is to the vehicle number of the import track j of the adjacent crossing n in crossing to be controlled; Then

Be to have in h the statistical interval

Motor vehicle travels to the import track j of the adjacent crossing n in crossing to be controlled from the import track i of crossing m to be controlled;

(3) the crossing inlet to be controlled track vehicle computing method of crossing the average running speed of stop line:

${\stackrel{\‾}{V}}_{\mathrm{mik}}^h=\frac{{\stackrel{\‾}{V}}_{\mathrm{mi}1}^h+{\stackrel{\‾}{V}}_{\mathrm{mi}2}^h+\·\·\·+{\stackrel{\‾}{V}}_{\mathrm{mi}{N}_{\mathrm{mi}}^h}^h}{N_{\mathrm{mi}}^h}---\left(3\right)$

Wherein,

Represent that the import track i of h statistical interval crossing m to be controlled crosses the vehicle number of stop line,

Be k speed of crossing the vehicle of stop line,

${\stackrel{\‾}{V}}_{\mathrm{mis}}^h=1.4\×{\stackrel{\‾}{V}}_{\mathrm{mi}}^h---\left(4\right)$

Wherein,

Represent travel average velocity to the adjacent crossing operational process of crossing to be controlled of vehicle that h statistical interval crossing to be controlled m import track i rolls away from.

Step 3: each import track, crossing to be controlled is arrived magnitude of traffic flow carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived magnitude of traffic flow to carry out the process of prediction and calculation be to follow to coordinate heavy traffic stream principle and determine that the crossing coordinates to carry out after the phase place process of prediction and calculation;

Step 3 A: follow coordination heavy traffic stream principle and determine crossing coordination phase place;

Step 3 B: coordinate phase place and arrive the traffic flow composition analysis, described traffic flow consists of coordinates whole wagon flows that each import track, adjacent crossing, phase place upstream flows into this coordination phase place;

Step 3 C: coordinate each plume amount prediction and calculation that phase place arrives, described volume forecasting is calculated as and predicts h+1 flow at interval when h statistical interval closes to an end

$Q_{\mathrm{na}}^{\′h+1}=Q_{\mathrm{ba}}^{\′h+1}+Q_{\mathrm{ea}}^{\′h+1}+Q_{\mathrm{ra}}^{\′h+1}---\left(5\right)$

Wherein:

For coordinating the extremely path flow of the adjacent crossing n coordination in crossing to be controlled phase place correspondence track a of the corresponding track b of phase place by crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

Obtain for prediction and calculation h+1 adjacent crossing n coordinates the path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track e of the non-coordination phase place of crossing m to be controlled at interval;

Obtain for prediction and calculation h+1 adjacent crossing n coordinates the path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track r of the non-coordination phase place of crossing m to be controlled at interval;

Wherein:

$Q_{\mathrm{ba}}^{\′h+1}\text{=}(Q_{\mathrm{ba}}^h+Q_{\mathrm{ba}}^{h-1}+Q_{\mathrm{ba}}^{h-2})/3---\left(6\right)$

$Q_{\mathrm{ea}}^{\′h+1}=(Q_{\mathrm{ea}}^h+Q_{\mathrm{ea}}^{h-1}+Q_{\mathrm{ea}}^{h-2})/3---\left(7\right)$

$Q_{\mathrm{ra}}^{\′h+1}=(Q_{\mathrm{ra}}^h+Q_{\mathrm{ra}}^{h-1}+Q_{\mathrm{ra}}^{h-2})/3---\left(8\right)$

In the formula:

Be respectively h, h-1, a h-2 interval and coordinated the Actual path flow of the corresponding track b of phase place adjacent crossing n coordination phase place correspondence track a to crossing to be controlled by crossing m to be controlled;

Adjacent crossing n coordinates the Actual path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track e of the non-coordination phase place of crossing m to be controlled at interval to be respectively h, h-1, h-2;

Adjacent crossing n coordinates the Actual path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track r of the non-coordination phase place of crossing m to be controlled at interval to be respectively h, h-1, h-2;

Step 3 D: non-coordination phase place import track volume forecasting:

If track i is an import track of the non-coordination phase place of crossing m to be controlled correspondence, its h+1 interval predicted flow rate equals:

$Q_{\mathrm{mi}}^{\′h+1}=(Q_{\mathrm{mi}}^h+Q_{\mathrm{mi}}^{h-1}+Q_{\mathrm{mi}}^{h-2})/3---\left(9\right)$

Step 4: motor vehicle average running speed prediction and calculation is carried out in the highway section to each import track, crossing to be controlled and coordination phasetophase thereof:

H+1 statistical interval predicts that the highway section motor vehicle average running speed that obtains is:

${\stackrel{\‾}{V}}_{\mathrm{mis}}^{\′h+1}=({\stackrel{\‾}{V}}_{\mathrm{mis}}^{h-2}+{\stackrel{\‾}{V}}_{\mathrm{mis}}^{h-1}+{\stackrel{\‾}{V}}_{\mathrm{mis}}^h)/3---\left(10\right)$

In the formula:

Represent h, h-1, h-2 travel average velocity to the adjacent crossing operational process of crossing to be controlled of the vehicle that rolls away from of m import track i in crossing to be controlled at interval respectively.

Step 5: each import track, crossing to be controlled that obtains according to step 3 arrives each import track, crossing to be controlled that traffic flow forecasting result and step 4 obtain and the motor vehicle average running speed of coordinating the highway section of phasetophase thereof and predicts the outcome and carry out signal coordinating control timing parameter and calculate; Described signal coordinating control timing parameter comprises the phase differential of described common period duration, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled, the adjacent crossing coordination with it in crossing to be controlled phase place;

(1) calculating of common period duration:

Optimal period duration when calculating crossing m to be controlled and adjacent crossing n thereof respectively and carry out the single-point signal controlling respectively according to formula (11):

$T^{h+1}=\frac{1-\underset{k=1}{\overset{P}{\mathrm{\Σ}}}({\hat{Q}}_k^{\′h+1}/{\hat{S}}_k)}{1.5\underset{k=1}{\overset{P}{\mathrm{\Σ}}}{l}_k+5}---\left(11\right)$

In the formula: P is the signal phase number of crossing;

Be h+1 the prediction arrival flow in the corresponding import of the signal phase k track of crossing at interval;

Saturation volume rate for the corresponding import of the signal phase k of crossing track;

l _kBe the green light lost time of the signal phase k of crossing;

Optimal period duration when h+1 interval crossing m and the control of adjacent crossing n operation single point signals thereof is respectively

With

The common period duration T that carries out when signal coordinating control is carried out in adjacent crossing ^H+1:

$T^{h+1}=\max (T_m^{h+1},T_n^{h+1})---\left(12\right)$

(2) computing method of each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled:

$g_p^{h+1}=(T^{h+1}-\underset{k=1}{\overset{P}{\mathrm{\Σ}}}{l}_k)\×\frac{{\hat{Q}}_p^{\′h+1}/{\hat{S}}_p}{\underset{k=1}{\overset{P}{\mathrm{\Σ}}}({\hat{Q}}_k^{\′h+1}/{\hat{S}}_k)}---\left(13\right)$

Wherein, p is p phase place of crossing;

Each import track green time of crossing m to be controlled, each import track green time of the adjacent crossing n in crossing to be controlled are respectively

(3) computing method of the phase differential of phase place are coordinated in adjacent crossing with it, crossing to be controlled:

If to adjacent crossing, crossing to be controlled n direction, h+1 the interval adjacent crossing n in crossing to be controlled coordinates phase place and with respect to the phase differential that crossing m to be controlled coordinates phase place is by crossing m to be controlled So by crossing m to be controlled to adjacent crossing, crossing to be controlled n direction, crossing m to be controlled with respect to the phase differential of the adjacent crossing n in crossing to be controlled is $O_{\mathrm{nm}}^{\′h+1},$ $O_{\mathrm{nm}}^{\′h+1}=T^{h+1}-O_{\mathrm{mn}}^{h+1};$

$O_{\mathrm{mn}}^{h+1}=\mathrm{arc}\min D^{h+1}(T^{h+1},g_{\mathrm{mp}}^{h+1},{\hat{Q}}_{\mathrm{mk}}^{\&prime;h+1},{\hat{Q}}_{\mathrm{nk}}^{\&prime;h+1})0<O_{\mathrm{mn}}^{h+1}\&le;T^{h+1}---\left(14\right)$

In the formula: D ^H+1Each cycle of coordination phase place that is h+1 the at interval interior adjacent crossing n with it of adjacent crossing m to be controlled arrives traffic flow delay time at stop sum

$D^{h+1}=D_{\mathrm{na}}^{h+1}+{\stackrel{\&RightArrow;}{D}}_{\mathrm{mu}}^{h+1}---\left(15\right)$

In the formula:

For adjacent crossing n coordinates the arrival wagon flow total delay that the adjacent crossing n in direction crossing to be controlled coordinates the corresponding track a of phase place to crossing to be controlled by crossing m to be controlled;

For coordinated the arrival wagon flow total delay of the corresponding track u of direction m coordination in crossing to be controlled phase place to crossing m to be controlled by the adjacent crossing n in crossing to be controlled;

$D_{\mathrm{na}}^{h+1}=d_{\mathrm{nba}}^{h+1}\&times;Q_{\mathrm{ba}}^{\&prime;h+1}+d_{\mathrm{nea}}^{h+1}\&times;Q_{\mathrm{ea}}^{\&prime;h+1}+d_{\mathrm{nra}}^{h+1}\&times;Q_{\mathrm{ra}}^{\&prime;h+1}---\left(16\right)$

In the formula:

Being h+1 statistical interval, adjacent crossing n coordinates direction crossing to be controlled m track b and all incurs loss through delay to the car of adjacent crossing, crossing to be controlled n track a to crossing to be controlled by crossing m to be controlled;

Be that h+1 statistical interval all incured loss through delay to the corresponding track e of adjacent crossing, crossing to be controlled n left turn phase to the car of adjacent crossing, crossing to be controlled n track a by crossing m to be controlled;

Be that h+1 statistical interval all incured loss through delay to the corresponding track r of adjacent crossing, crossing to be controlled n right-hand rotation phase place to the car of adjacent crossing, crossing to be controlled n track a by crossing m to be controlled;

For coordinating the extremely path flow of the adjacent crossing n coordination in crossing to be controlled phase place correspondence track a of the corresponding track b of phase place by crossing m to be controlled in h+1 the interval that prediction obtains;

$d_{\mathrm{nea}}^{h+1}=\frac{T^{h+1}{(1-g_{\mathrm{nc}}^{h+1}/T^{h+1})}^2}{2(1-Q_{\mathrm{ea}}^{\&prime;h+1}/S_{\mathrm{na}})}+\frac{{(Q_{\mathrm{ea}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1}))}^2}{2Q_{\mathrm{ea}}^{\&prime;h+1}(1-(Q_{\mathrm{ea}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1})))}---\left(17\right)$

In the formula:

Be that the phase is distributed the green time that obtains to h+1 the corresponding coordination of at interval interior adjacent crossing, crossing to be controlled n track a phase place weekly; S _NaCoordinate the saturation volume rate of the corresponding track a of phase place for crossing n.

$d_{\mathrm{nra}}^{h+1}=\frac{T^{h+1}{(1-g_{\mathrm{nc}}^{h+1}/T^{h+1})}^2}{2(1-Q_{\mathrm{ra}}^{\&prime;h+1}/S_{\mathrm{na}})}+\frac{{(Q_{\mathrm{ra}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1}))}^2}{2Q_{\mathrm{ra}}^{\&prime;h+1}(1-(Q_{\mathrm{ra}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1})))}---\left(18\right)$

$d_{\mathrm{nba}}^{h+1}=\frac{T^{h+1}{(1-g_{\mathrm{nc}}^{h+1}/T^{h+1})}^2}{2(1-Q_{\mathrm{ba}}^{\&prime;h+1}/S_{\mathrm{na}})}+f\&times;\frac{{(Q_{\mathrm{ba}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1}))}^2}{2Q_{\mathrm{ba}}^{\&prime;h+1}(1-(Q_{\mathrm{ba}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1})))}---\left(19\right)$

In the formula: f is correction coefficient;

$f=\frac{N_{\mathrm{ba}}^{\&prime;h+1}}{Q_{\mathrm{ba}}^{\&prime;h+1}\&CenterDot;T^{h+1}/3600}---\left(20\right)$

In the formula:

For being driven towards in the path flow of adjacent crossing, crossing to be controlled n track a by crossing to be controlled m track b at h+1 the interval that prediction obtains, coordinate to arrive track a stop line during phase place shows green light or add the vehicle number of lining up at the adjacent crossing n in crossing to be controlled;

To open bright be 0 constantly if crossing m to be controlled coordinates the phase place green light, and the adjacent crossing n in crossing to be controlled coordinates the phase place green light and opens and brightly be Constantly, the adjacent crossing n coordination in crossing to be controlled phase place green light ends up being

Constantly; The wagon flow that crossing to be controlled m track b drives towards adjacent crossing, crossing to be controlled n track a is rolled away from since 0 constantly, and flow is Duration is This burst wagon flow travelling speed on the arterial highway is

The 'STOP' line ahead of the crossing m track b to be controlled n track a of adjacent crossing with crossing to be controlled is L _Ba, t working time of this burst wagon flow so _Ba:

$t_{\mathrm{ba}}=\frac{L_{\mathrm{ba}}}{{\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^{\&prime;h+1}}---\left(21\right)$

N track, adjacent crossing, crossing to be controlled b green light shows that time range is

The time range that this burst wagon flow arrives adjacent crossing, crossing to be controlled n track b is

Wherein:

${\hat{t}}_{\mathrm{ba}}=\mathrm{mod}(t_{\mathrm{ba}}/T^{h+1})---\left(22\right)$

In the formula: mod gets complementary function;

The length time of coincidence of two time ranges is made as t _Ba, computing method are as follows:

$N_{\mathrm{gba}}^{\&prime;h+1}=y_{\mathrm{cba}}\&times;Q_{\mathrm{ba}}^{\&prime;h+1}/3600---\left(24\right)$

Formula (24) substitution formula (20), (19) can be tried to achieve

And then try to achieve Adopt identical method can in the hope of

And then set up D ^H+1With

Relational expression, i.e. formula (14);

At (0, T ^H+1] in the scope, make

Since 1 round numbers, progressively add 1 to T ^H+1, export each

The D that value is corresponding ^H+1, work as D ^H+1Hour the most corresponding

Be the optimum phase difference between the adjacent n coordination in crossing with crossing to be controlled of the crossing m to be controlled phase place.

Step 6: coordinate the control scheme according to signal coordinating control timing parameter picked up signal, and control signal is transferred to the control of traffic lights realization signal coordinating;

Described realization signal coordinating is controlled to be: common period, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled are carried out in crossing to be controlled and adjacent crossing thereof, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the bright time and is later than crossing to be controlled and coordinates the green light of phase place and open the bright moment.

The unit of flow Q is/h in the method for the invention, and the unit of speed V is m/s, and the unit of duration T is s, the unit of phase differential O is s, the unit that delay time at stop D and car are all incured loss through delay d is s, and the unit of green time g is s, and the unit of wagon flow t working time is s.

Specific embodiment:

Be example in conjunction with Fig. 2 with adjacent Song Shan road, Harbin City and Huaihe Road crossing (hereinafter to be referred as crossing 1), Song Shan road and crossing, the Yellow River road (hereinafter to be referred as crossing 2), the coordinating control of traffic signals method of utilizing video to detect data is described.The control of four phase signals is all carried out in two crossings, is respectively thing left-hand rotation, thing craspedodrome, north and south left-hand rotation, north and south craspedodrome, and the phase place phase sequence as shown in Figure 3.The right-hand rotation vehicle is not subjected to signal controlling.Two crossings are at a distance of 730m.

Step 1, in the crossing 1 and each importer of crossing 2 to laying a video detector, traffic signaling equipment is arranged on the corner, crossing, connects traffic signaling equipment and video detector by cable.

Step 2, traffic flow parameter calculate

Be statistical interval with 5min, the 9:00 to 9:15 in 6 days March in 2013 that the extraction video detector obtains crosses number of track-lines, average velocity, the license plate information of stop line in totally three each tracks of period, and then obtains parameters such as entrance driveway flow, path flow, road-section average travelling speed.As table 1 to shown in the table 3.

The flow of each three statistical intervals in import track of table 1 crossing (unit :/h)

Table 2 crossing 1 and crossing 2 Through Lanes arrival path flow composition (unit :/h)

Table 3 connects crossing 1 and crossing 2 highway section vehicle average running speed (units: m/s)

Step 3, crossing inlet track arrive traffic flow forecasting

(1) determines crossing coordination phase place

Because north and south craspedodrome wagon flow flow maximum, so the north and south craspedodrome phase place of crossing 1 and crossing 2 is set to coordinate phase place.

(2) coordinate phase place and arrive the traffic flow composition analysis

The flow that the corresponding import of 1 coordination phase place track, crossing 8 arrives is made up of three parts, is respectively 2 import tracks, crossing, 4 left turn traffics, import track 8 craspedodrome wagon flows, import track 12 right-hand rotation wagon flows.

The flow that the corresponding import of 2 coordination phase places track, crossing 2 arrives is made up of three parts, is respectively 1 import track, crossing, 10 left turn traffics, import track 2 craspedodrome wagon flows, import track 6 right-hand rotation wagon flows.

(3) coordinate each plume amount prediction that phase place arrives

Utilize the path flow of the next statistical interval of path volume forecasting (being statistical interval 4) of three statistical intervals, specifically as shown in table 4.

Table 4 crossing 1 and crossing 2 Through Lane path volume forecastings (unit :/h)

It is as shown in table 5 with the predicted flow rate in the corresponding import of 2 coordination phase places track, crossing 2 that the corresponding import of phase place track 8 is coordinated in crossing 1.

Table 5 crossing 1 and crossing 2 coordinate phase place corresponding track volume forecastings (unit :/h)

(4) non-coordination phase place import track volume forecasting

Each import track volume forecasting of non-coordination phase place of two crossings is as shown in table 6 in the statistical interval 4.

Table 6 crossing 1 and crossing 2 non-coordination phase place corresponding track volume forecastings (unit :/h)

The highway section motor vehicle average running speed that prediction obtains in step 4, the statistical interval 4 is as shown in table 7.

Table 7 connects crossing 1 and crossing 2 highway section vehicle average running speed predicted value (units: m/s)

Step 5, signal coordinating control timing parameter calculate

(1) common period duration calculation

Optimal period duration during the 1 fill order's point control of crossing in statistical interval 4:

${\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HDA00002998990700021.png,HDA00002998990700022.png"\; state="\{\{state\}\}">T</figure-callout>}}_1^4=104s$

Optimal period duration during the 2 fill order's point control of crossing in statistical interval 4:

${\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="HDA00002998990700012.png,HDA00002998990700021.png"\; state="\{\{state\}\}">T</figure-callout>}}_2^4=199s$

Common period duration when signal coordinating control is carried out in two crossings:

T ⁴＝119s

(2) each phase place green time of crossing calculates

The green time that crossing 1 and crossing 2 each phase assignments obtain is as shown in table 8.

Table 8 crossing 1 and crossing 2 be each phase place green time (unit: s) in statistical interval 4

(3) phase difference calculating

Phase place is coordinated phase place with respect to crossing 1 phase differential is coordinated in crossing 2:

${\mathrm{<figure-callout\; id="12"\; label="O"\; filenames="HDA00002998990700021.png"\; state="\{\{state\}\}">O</figure-callout>}}_{12}^4=83s$

Phase place is coordinated phase place with respect to crossing 2 phase differential is coordinated in crossing 1:

$O_{21}^4=36s$

Step 6, the output of signal coordinating control scheme

The coordinating control of traffic signals scheme comprises following content:

(1) the common period duration of crossing 1 and crossing 2

T ⁴＝119s

(2) each phase place green time of crossing 1 and crossing 2

(3) phase place is coordinated phase place with respect to crossing 1 phase differential is coordinated in crossing 2

From north to south to: ${\mathrm{<figure-callout\; id="12"\; label="O"\; filenames="HDA00002998990700021.png"\; state="\{\{state\}\}">O</figure-callout>}}_{12}^4=83s$

From reach in the south the north to: $O_{21}^4=36s$

Be that crossing 1 coordination phase place green light opens after the bright 83s, the green light that phase places are coordinated in crossing 2 begins to open bright.

Claims (5)

1. adjacent intersection signal control method for coordinating in city that utilizes video to detect data, described method is based on that following equipment realizes: each importer of crossing to be controlled is to all laying a video detector, video detector is used for obtaining the stop line cross-section image, and the video information output terminal of each video detector all links to each other with the video information input end of teleseme;

It is characterized in that it comprises the steps:

Step 1: teleseme obtains each crossing inlet track stop line cross-section image by video detector;

Step 2: each crossing inlet track stop line sectional drawing that obtains according to teleseme obtains crosses the vehicle number that each track, crossing to be controlled is passed through in the statistical interval, and the vehicle number that passes through according to each track, crossing to be controlled calculates traffic flow parameter, and described traffic flow parameter comprises the path flow between crossing inlet to be controlled track flow, crossing inlet to be controlled track and the adjacent crossing inlet track, the average running speed that crossing inlet to be controlled track vehicle is crossed stop line;

Step 3: each import track, crossing to be controlled is arrived magnitude of traffic flow carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived magnitude of traffic flow to carry out the process of prediction and calculation be to follow to coordinate heavy traffic stream principle and determine that the crossing coordinates to carry out after the phase place process of prediction and calculation;

Step 4: motor vehicle average running speed prediction and calculation is carried out in the highway section to each import track, crossing to be controlled and coordination phasetophase thereof;

Step 5: each import track, crossing to be controlled that obtains according to step 3 arrives each import track, crossing to be controlled that traffic flow forecasting result and step 4 obtain and the motor vehicle average running speed of coordinating the highway section of phasetophase thereof and predicts the outcome and carry out signal coordinating control timing parameter and calculate; Described signal coordinating control timing parameter comprises described common period duration, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled, crossing to be controlled and coordinates the phase differential of phase place;

Step 6: coordinate the control scheme according to signal coordinating control timing parameter picked up signal, and control signal is transferred to the control of traffic lights realization signal coordinating;

Described realization signal coordinating is controlled to be: common period, each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled are carried out in crossing to be controlled and adjacent crossing thereof, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the green light of coordinating phase place in adjacent crossing with crossing to be controlled of the bright moment phase differential that to open the bright time of differing in the moment be two crossings.

2. a kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data according to claim 1 is characterized in that the process that the vehicle number that passes through according to each track, crossing to be controlled described in the step 2 calculates traffic flow parameter is:

(1) computing method of crossing inlet to be controlled track flow:

$Q_{\mathrm{mi}}^h=N_{\mathrm{mi}}^h\&times;12---\left(1\right)$

Wherein, h is h statistical interval, and mi is the import track i of crossing m to be controlled, and N is the vehicle number of crossing stop line, then

The import track i that represents crossing m to be controlled in h the statistical interval has

Motor vehicle has been crossed stop line;

(2) computing method of crossing inlet track to be controlled and path, adjacent crossing inlet track flow:

$Q_{\mathrm{ij}}^h=N_{\mathrm{ij}}^h\&times;12---\left(2\right)$

Wherein:

Be that the import track i of h statistical interval crossing m to be controlled is to the vehicle number of the import track j of the adjacent crossing n in crossing to be controlled; Then

Be to have in h the statistical interval

Motor vehicle travels to the import track j of the adjacent crossing n in crossing to be controlled from the import track i of crossing m to be controlled;

(3) the crossing inlet to be controlled track vehicle computing method of crossing the average running speed of stop line:

${\stackrel{\&OverBar;}{V}}_{\mathrm{mik}}^h=\frac{{\stackrel{\&OverBar;}{V}}_{\mathrm{mi}1}^h+{\stackrel{\&OverBar;}{V}}_{\mathrm{mi}2}^h+\&CenterDot;\&CenterDot;\&CenterDot;+{\stackrel{\&OverBar;}{V}}_{\mathrm{mi}{N}_{\mathrm{mi}}^h}^h}{N_{\mathrm{mi}}^h}---\left(3\right)$

Wherein,

Represent that the import track i of h statistical interval crossing m to be controlled crosses the vehicle number of stop line,

Be k speed of crossing the vehicle of stop line,

${\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^h=1.4\&times;{\stackrel{\&OverBar;}{V}}_{\mathrm{mi}}^h---\left(4\right)$

Wherein,

Represent travel average velocity to the adjacent crossing operational process of crossing to be controlled of vehicle that h statistical interval crossing to be controlled m import track i rolls away from.

3. a kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data according to claim 1 and 2 is characterized in that step 3: each import track, crossing to be controlled is arrived magnitude of traffic flow carry out the process of prediction and calculation and comprise the steps:

Step 3 A: follow coordination heavy traffic stream principle and determine crossing coordination phase place;

Step 3 B: coordinate phase place and arrive the traffic flow composition analysis, described traffic flow consists of coordinates whole wagon flows that each import track, adjacent crossing, phase place upstream flows into this coordination phase place;

Step 3 C: coordinate each plume amount prediction and calculation that phase place arrives, described volume forecasting is calculated as and predicts h+1 flow at interval when h statistical interval closes to an end

$Q_{\mathrm{na}}^{\&prime;h+1}=Q_{\mathrm{ba}}^{\&prime;h+1}+Q_{\mathrm{ea}}^{\&prime;h+1}+Q_{\mathrm{ra}}^{\&prime;h+1}---\left(5\right)$

Wherein: For coordinating the extremely path flow of the adjacent crossing n coordination in crossing to be controlled phase place correspondence track a of the corresponding track b of phase place by crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

Obtain for prediction and calculation h+1 adjacent crossing n coordinates the path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track e of the non-coordination phase place of crossing m to be controlled at interval;

Obtain for prediction and calculation h+1 adjacent crossing n coordinates the path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track r of the non-coordination phase place of crossing m to be controlled at interval;

Wherein:

$Q_{\mathrm{ba}}^{\&prime;h+1}\text{=}(Q_{\mathrm{ba}}^h+Q_{\mathrm{ba}}^{h-1}+Q_{\mathrm{ba}}^{h-2})/3---\left(6\right)$

$Q_{\mathrm{ea}}^{\&prime;h+1}=(Q_{\mathrm{ea}}^h+Q_{\mathrm{ea}}^{h-1}+Q_{\mathrm{ea}}^{h-2})/3---\left(7\right)$

$Q_{\mathrm{ra}}^{\&prime;h+1}=(Q_{\mathrm{ra}}^h+Q_{\mathrm{ra}}^{h-1}+Q_{\mathrm{ra}}^{h-2})/3---\left(8\right)$

In the formula:

Be respectively h, h-1, a h-2 interval and coordinated the Actual path flow of the corresponding track b of phase place adjacent crossing n coordination phase place correspondence track a to crossing to be controlled by crossing m to be controlled;

Adjacent crossing n coordinates the Actual path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track e of the non-coordination phase place of crossing m to be controlled at interval to be respectively h, h-1, h-2;

Adjacent crossing n coordinates the Actual path flow of the corresponding track a of phase place to crossing to be controlled by the corresponding track r of the non-coordination phase place of crossing m to be controlled at interval to be respectively h, h-1, h-2;

Step 3 D: non-coordination phase place import track volume forecasting:

If track i is an import track of the non-coordination phase place of crossing m to be controlled correspondence, its h+1 interval predicted flow rate equals:

$Q_{\mathrm{mi}}^{\&prime;h+1}=(Q_{\mathrm{mi}}^h+Q_{\mathrm{mi}}^{h-1}+Q_{\mathrm{mi}}^{h-2})/3---\left(9\right).$

4. a kind of adjacent intersection signal control method for coordinating in city that utilizes video to detect data according to claim 3 is characterized in that step 4: the process of each import track, crossing to be controlled and the highway section of coordinating phasetophase thereof being carried out motor vehicle average running speed prediction and calculation is:

H+1 statistical interval predicts that the highway section motor vehicle average running speed that obtains is:

${\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^{\&prime;h+1}=({\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^{h-2}+{\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^{h-1}+{\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^h)/3---\left(10\right)$

In the formula:

Represent h, h-1, h-2 travel average velocity to the adjacent crossing operational process of crossing to be controlled of the vehicle that rolls away from of m import track i in crossing to be controlled at interval respectively.

5. according to claim 1 or 4 described a kind of adjacent intersection signal control method for coordinating in city that utilize video to detect data, it is characterized in that step 5: each import track, crossing to be controlled that obtains according to step 3 arrives each import track, crossing to be controlled that traffic flow forecasting result and step 4 obtain and the motor vehicle average running speed of coordinating the highway section of phasetophase thereof and predicts the outcome and carry out signal coordinating control timing parameter calculation process and be:

(1) calculating of common period duration:

Optimal period duration when calculating crossing m to be controlled and adjacent crossing n thereof respectively and carry out the single-point signal controlling respectively according to formula (11):

$T^{h+1}=\frac{1-\underset{k=1}{\overset{P}{\mathrm{\&Sigma;}}}({\hat{Q}}_k^{\&prime;h+1}/{\hat{S}}_k)}{1.5\underset{k=1}{\overset{P}{\mathrm{\&Sigma;}}}{l}_k+5}---\left(11\right)$

In the formula: P is the signal phase number of crossing;

Be h+1 the prediction arrival flow in the corresponding import of the signal phase k track of crossing at interval;

Saturation volume rate for the corresponding import of the signal phase k of crossing track;

l _kBe the green light lost time of the signal phase k of crossing;

Optimal period duration when h+1 interval crossing m and the control of adjacent crossing n operation single point signals thereof is respectively

With

The common period duration T that carries out when signal coordinating control is carried out in adjacent crossing ^H+1:

$T^{h+1}=\max (T_m^{h+1},T_n^{h+1})---\left(12\right)$

(2) computing method of each import track green time of crossing to be controlled, each import track green time of adjacent crossing, crossing to be controlled:

$g_p^{h+1}=(T^{h+1}-\underset{k=1}{\overset{P}{\mathrm{\&Sigma;}}}{l}_k)\&times;\frac{{\hat{Q}}_p^{\&prime;h+1}/{\hat{S}}_p}{\underset{k=1}{\overset{P}{\mathrm{\&Sigma;}}}({\hat{Q}}_k^{\&prime;h+1}/{\hat{S}}_k)}---\left(13\right)$

Wherein, p is p phase place of crossing;

Each import track green time of crossing m to be controlled, each import track green time of the adjacent crossing n in crossing to be controlled are respectively

(3) computing method of the phase differential of phase place are coordinated in adjacent crossing with it, crossing to be controlled:

If to adjacent crossing, crossing to be controlled n direction, h+1 the interval adjacent crossing n in crossing to be controlled coordinates phase place and with respect to the phase differential that crossing m to be controlled coordinates phase place is by crossing m to be controlled

So by crossing m to be controlled to adjacent crossing, crossing to be controlled n direction, crossing m to be controlled with respect to the phase differential of the adjacent crossing n in crossing to be controlled is $O_{\mathrm{nm}}^{\&prime;h+1},$ $O_{\mathrm{nm}}^{\&prime;h+1}=T^{h+1}-O_{\mathrm{mn}}^{h+1};$

$O_{\mathrm{mn}}^{h+1}=\mathrm{arc}\min D^{h+1}(T^{h+1},g_{\mathrm{mp}}^{h+1},{\hat{Q}}_{\mathrm{mk}}^{\&prime;h+1},{\hat{Q}}_{\mathrm{nk}}^{\&prime;h+1})0<O_{\mathrm{mn}}^{h+1}\&le;T^{h+1}---\left(14\right)$

In the formula: D ^H+1Each cycle of coordination phase place that is h+1 the at interval interior adjacent crossing n with it of adjacent crossing m to be controlled arrives traffic flow delay time at stop sum

$D^{h+1}=D_{\mathrm{na}}^{h+1}+{\stackrel{\&RightArrow;}{D}}_{\mathrm{mu}}^{h+1}---\left(15\right)$

In the formula:

For adjacent crossing n coordinates the arrival wagon flow total delay that the adjacent crossing n in direction crossing to be controlled coordinates the corresponding track a of phase place to crossing to be controlled by crossing m to be controlled;

For coordinated the arrival wagon flow total delay of the corresponding track u of direction m coordination in crossing to be controlled phase place to crossing m to be controlled by the adjacent crossing n in crossing to be controlled;

$D_{\mathrm{na}}^{h+1}=d_{\mathrm{nba}}^{h+1}\&times;Q_{\mathrm{ba}}^{\&prime;h+1}+d_{\mathrm{nea}}^{h+1}\&times;Q_{\mathrm{ea}}^{\&prime;h+1}+d_{\mathrm{nra}}^{h+1}\&times;Q_{\mathrm{ra}}^{\&prime;h+1}---\left(16\right)$

In the formula:

Being h+1 statistical interval, adjacent crossing n coordinates direction crossing to be controlled m track b and all incurs loss through delay to the car of adjacent crossing, crossing to be controlled n track a to crossing to be controlled by crossing m to be controlled;

Be that h+1 statistical interval all incured loss through delay to the corresponding track e of adjacent crossing, crossing to be controlled n left turn phase to the car of adjacent crossing, crossing to be controlled n track a by crossing m to be controlled;

Be that h+1 statistical interval all incured loss through delay to the corresponding track r of adjacent crossing, crossing to be controlled n right-hand rotation phase place to the car of adjacent crossing, crossing to be controlled n track a by crossing m to be controlled;

For coordinating the extremely path flow of the adjacent crossing n coordination in crossing to be controlled phase place correspondence track a of the corresponding track b of phase place by crossing m to be controlled in h+1 the interval that prediction obtains;

$d_{\mathrm{nea}}^{h+1}=\frac{T^{h+1}{(1-g_{\mathrm{nc}}^{h+1}/T^{h+1})}^2}{2(1-Q_{\mathrm{ea}}^{\&prime;h+1}/S_{\mathrm{na}})}+\frac{{(Q_{\mathrm{ea}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1}))}^2}{2Q_{\mathrm{ea}}^{\&prime;h+1}(1-(Q_{\mathrm{ea}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1})))}---\left(17\right)$

In the formula:

Be that the phase is distributed the green time that obtains to h+1 the corresponding coordination of at interval interior adjacent crossing, crossing to be controlled n track a phase place weekly; S _NaCoordinate the saturation volume rate of the corresponding track a of phase place for crossing n.

$d_{\mathrm{nra}}^{h+1}=\frac{T^{h+1}{(1-g_{\mathrm{nc}}^{h+1}/T^{h+1})}^2}{2(1-Q_{\mathrm{ra}}^{\&prime;h+1}/S_{\mathrm{na}})}+\frac{{(Q_{\mathrm{ra}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1}))}^2}{2Q_{\mathrm{ra}}^{\&prime;h+1}(1-(Q_{\mathrm{ra}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1})))}---\left(18\right)$

$d_{\mathrm{nba}}^{h+1}=\frac{T^{h+1}{(1-g_{\mathrm{nc}}^{h+1}/T^{h+1})}^2}{2(1-Q_{\mathrm{ba}}^{\&prime;h+1}/S_{\mathrm{na}})}+f\&times;\frac{{(Q_{\mathrm{ba}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1}))}^2}{2Q_{\mathrm{ba}}^{\&prime;h+1}(1-(Q_{\mathrm{ba}}^{\&prime;h+1}/(S_{\mathrm{na}}\&CenterDot;g_{\mathrm{nc}}^{h+1}/T^{h+1})))}---\left(19\right)$

In the formula: f is correction coefficient;

$f=\frac{N_{\mathrm{ba}}^{\&prime;h+1}}{Q_{\mathrm{ba}}^{\&prime;h+1}\&CenterDot;T^{h+1}/3600}---\left(20\right)$

In the formula:

For being driven towards in the path flow of adjacent crossing, crossing to be controlled n track a by crossing to be controlled m track b at h+1 the interval that prediction obtains, coordinate to arrive track a stop line during phase place shows green light or add the vehicle number of lining up at the adjacent crossing n in crossing to be controlled;

To open bright be 0 constantly if crossing m to be controlled coordinates the phase place green light, and the adjacent crossing n in crossing to be controlled coordinates the phase place green light and opens and brightly be

Constantly, the adjacent crossing n coordination in crossing to be controlled phase place green light ends up being

Constantly; The wagon flow that crossing to be controlled m track b drives towards adjacent crossing, crossing to be controlled n track a is rolled away from since 0 constantly, and flow is

Duration is

This burst wagon flow travelling speed on the arterial highway is

The 'STOP' line ahead of the crossing m track b to be controlled n track a of adjacent crossing with crossing to be controlled is L _Ba, t working time of this burst wagon flow so _Ba:

$t_{\mathrm{ba}}=\frac{L_{\mathrm{ba}}}{{\stackrel{\&OverBar;}{V}}_{\mathrm{mis}}^{\&prime;h+1}}---\left(21\right)$

N track, adjacent crossing, crossing to be controlled b green light shows that time range is The time range that this burst wagon flow arrives adjacent crossing, crossing to be controlled n track b is

Wherein:

${\hat{t}}_{\mathrm{ba}}=\mathrm{mod}(t_{\mathrm{ba}}/T^{h+1})---\left(22\right)$

In the formula: mod gets complementary function;

The length time of coincidence of two time ranges is made as t _Ba, computing method are as follows:

$N_{\mathrm{gba}}^{\&prime;h+1}=y_{\mathrm{cba}}\&times;Q_{\mathrm{ba}}^{\&prime;h+1}/3600---\left(24\right)$

Formula (24) substitution formula (20), (19) can be tried to achieve

And then try to achieve

Adopt identical method can in the hope of

And then set up

With

Relational expression, i.e. formula (14);

At (0, T ^H+1] in the scope, make

Since 1 round numbers, progressively add 1 to T ^H+1, export each

The D that value is corresponding ^H+1, work as D ^H+1Hour the most corresponding

Be the optimum phase difference between crossing m and the crossing n coordination phase place.

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