CN103208193B - 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 city Adjacent Intersections signal coordinating control method 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 signal controlling field.

Background technology

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

The essence of coordinating control of traffic signals is to coordinate Adjacent Intersections to coordinate the wagon flow operation between phase place.Owing to coordinating the wagon flow of phase place, be the chief component of wagon flow on arterial street, there is the features such as flow is large, wagon flow is intensive, so reduce the wagon flow of coordination phase place, just incur loss through delay and can integral body reduce the wagon flow mean delay on arterial highway.Wagon flow that phase place rolls away from is coordinated in crossing operational process downstream in crossing, upstream, has the non-coordination phase place that fraction drives towards downstream, and remaining major part is driven towards the coordination phase place in downstream, and what signal coordinated control was coordinated is remaining most of wagon flow.Therefore, only have accurately and calculate coordinating the operating path of phase place wagon flow, obtain and arrive the flow that phase place is coordinated in downstream, could set up signal coordinated control scheme exactly.Yet existing signal coordinating control method is all laid inductive coil detecting device on each import track, crossing, can only detect the information such as flow that each import track section arrives, speed, cannot obtain crossing, upstream and coordinate the path flow between phase place and downstream intersection coordination phase place, when modelled signal timing scheme, think that the wagon flow that crossing, upstream coordination phase place is rolled away from has all arrived downstream intersection coordination phase place.This and reality are not obviously inconsistent, and have calculated too much downstream intersection and have coordinated the flow that phase place arrives, and causing the signal time distributing conception generating is not preferred plan, has reduced and has coordinated to control benefit.

Summary of the invention

The present invention solves existing signal coordinating control method and adopts inductive coil detection data to cause coordinating the problems such as phase path traffic statistics error is large, Coordinated Control Scheme out of true, proposes a kind of city Adjacent Intersections signal coordinating control method that utilizes video to detect data.

A kind of city Adjacent Intersections signal coordinating control method that utilizes video to detect data, described method realizes based on following equipment: each importer of crossing to be controlled is to all laying a video detector, video detector is used for obtaining stop line cross-section image, and the video information output terminal of each video detector is all connected 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 obtaining according to teleseme obtains and crosses the vehicle number that each track, crossing to be controlled is passed through in statistical interval, and the vehicle number passing through according to each track, crossing to be controlled calculating traffic flow parameter, described traffic flow parameter comprises the path flow between crossing inlet to be controlled track flow, crossing inlet to be controlled track and Adjacent Intersections import 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 to magnitude of traffic flow and carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived to 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 crossing coordinates to carry out after phase place the process of prediction and calculation;

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

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

Step 6: according to signal coordinated control timing parameter picked up signal Coordinated Control Scheme, and control signal is transferred to traffic lights realizes signal coordinated control;

The described signal coordinated control of realizing is: crossing to be controlled and Adjacent Intersections thereof are carried out common period, each import track green time of crossing to be controlled, each import track green time of crossing to be controlled Adjacent Intersections, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the bright moment and opens with the green light of crossing to be controlled Adjacent Intersections coordination phase place the phase differential that the bright time of differing in the moment is two crossings.

The present invention has realized the signal coordinated control forwarding method that utilizes video to detect data, has avoided existing signal coordinating control method to adopt inductive coil to detect data and has caused coordinating the problems such as phase path traffic statistics error is large, Coordinated Control Scheme out of true.

A kind of city Adjacent Intersections signal coordinating control method that utilizes video to detect data of the present invention, motor vehicle that can each import track, Obtaining Accurate crossing to be controlled arrives flow, Adjacent Intersections and coordinates the critical datas such as motor road run-off between phase place, section motor vehicle average running speed, therefore make control accuracy improve 18%, for the signal coordinated control scheme important in inhibiting of generative science.

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 to motor road run-off size and the motor vehicle due in of coordinating phase place, simplified on the one hand the calculation process of optimum phase difference, made computing velocity improve 43%; Can dynamically update Coordinated Control Scheme along with the variation of traffic behavior on the other hand, for the accuracy and the self-adaptation level that improve signal coordinating control method, there is vital role.

Accompanying drawing explanation

Fig. 1 is a kind of process flow diagram that utilizes video to detect the city Adjacent Intersections signal coordinating control method of data of the present invention;

Fig. 2 is a kind of crossing structural representation that utilizes video to detect the city Adjacent Intersections signal coordinating control method of data of the present invention;

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

Fig. 4 is the phase place phase sequence schematic diagram that crossing 1 and crossing 2 four phase signals are controlled described in specific embodiment.

Embodiment

Embodiment one, in conjunction with Fig. 1, this embodiment is described.A kind of city Adjacent Intersections signal coordinating control method that utilizes video to detect data, described method realizes based on following equipment: each importer of crossing to be controlled is to all laying a video detector, video detector is used for obtaining stop line cross-section image, and the video information output terminal of each video detector is all connected 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 obtaining according to teleseme obtains and crosses the vehicle number that each track, crossing to be controlled is passed through in statistical interval, and the vehicle number passing through according to each track, crossing to be controlled calculating traffic flow parameter, described traffic flow parameter comprises the path flow between crossing inlet to be controlled track flow, crossing inlet to be controlled track and Adjacent Intersections import 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 to magnitude of traffic flow and carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived to 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 crossing coordinates to carry out after phase place the process of prediction and calculation;

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

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

Step 6: according to signal coordinated control timing parameter picked up signal Coordinated Control Scheme, and control signal is transferred to traffic lights realizes signal coordinated control;

The described signal coordinated control of realizing is: crossing to be controlled and Adjacent Intersections thereof are carried out common period, each import track green time of crossing to be controlled, each import track green time of crossing to be controlled Adjacent Intersections, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the bright moment and opens with the green light of crossing to be controlled Adjacent Intersections coordination phase place the phase differential that the bright time of differing in the moment is two crossings.

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

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 obtaining according to teleseme obtains and crosses the vehicle number that each track, crossing to be controlled is passed through in statistical interval, and the vehicle number passing through according to each track, crossing to be controlled calculates traffic flow parameter, 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, the import track i that represents crossing m to be controlled in h statistical interval has motor vehicle has been crossed stop line;

(2) computing method of crossing inlet to be controlled track and Adjacent Intersections imported car path 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 crossing Adjacent Intersections n to be controlled; ? be to have in h statistical interval motor vehicle travels to the import track j of crossing Adjacent Intersections n to be controlled from the import track i of crossing m to be controlled;

(3) computing method that crossing inlet to be controlled track vehicle is crossed 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 that Vehicle Driving Cycle that h statistical interval crossing to be controlled m import track i roll away from is to the average velocity in the Adjacent Intersections operational process of crossing to be controlled.

Step 3: each import track, crossing to be controlled is arrived to magnitude of traffic flow and carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived to 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 crossing coordinates to carry out after phase place the 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 traffic flow composition analysis, described traffic flow consists of coordinates whole wagon flows that each import track of Adjacent Intersections, 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 the flow at h+1 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 corresponding track b of phase place to the path flow of the corresponding track a of crossing Adjacent Intersections n coordination phase place to be controlled by crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

for coordinating the path flow of the corresponding track a of phase place to crossing Adjacent Intersections n to be controlled by the corresponding track e of the non-coordination phase place of crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

for coordinating the path flow of the corresponding track a of phase place to crossing Adjacent Intersections n to be controlled by the corresponding track r of the non-coordination phase place of crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

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 formula: be respectively h, h-1, a h-2 interval and by crossing m to be controlled, coordinated the Actual path flow of the corresponding track a of the corresponding track b of phase place Adjacent Intersections n coordination in crossing extremely to be controlled phase place;

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

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

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

If track i is an import track corresponding to the non-coordination phase place of crossing m to be controlled, 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 section to each import track, crossing to be controlled and coordination phasetophase thereof:

H+1 statistical interval predicts that the section motor vehicle average running speed obtaining 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 formula: represent that respectively Vehicle Driving Cycle that h, h-1, crossing to be controlled, h-2 interval m import track i roll away from is to the average velocity in the Adjacent Intersections operational process of crossing to be controlled.

Step 5: each import track, crossing to be controlled that each import track arrival traffic flow forecasting result of the crossing to be controlled obtaining according to step 3 and step 4 obtain and the motor vehicle average running speed of coordinating the section of phasetophase thereof predict the outcome and carry out the calculating of signal coordinated control timing parameter; Described signal coordinated 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 crossing to be controlled Adjacent Intersections, crossing to be controlled and its Adjacent Intersections coordination phase place;

(1) calculating of common period duration:

Optimal period duration when calculating respectively crossing m to be controlled and Adjacent Intersections n thereof and carry out respectively single-point signal controlling 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 formula: the signal phase number that P is crossing;

the prediction that is the corresponding import of the signal phase k track of crossing, h+1 interval arrives flow;

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

L _kfor the green light lost time of the signal phase k of crossing;

Optimal period duration when h+1 interval crossing m and Adjacent Intersections n operation single point signals thereof are controlled is respectively with

The common period duration T of execution when Adjacent Intersections carries out signal coordinated control ^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 crossing to be controlled Adjacent Intersections:

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

Wherein, p the phase place that p is crossing;

Each import track green time of crossing m to be controlled, each import track green time of crossing Adjacent Intersections n to be controlled are respectively

(3) crossing to be controlled and its Adjacent Intersections are coordinated the computing method of the phase differential of phase place:

If to crossing to be controlled Adjacent Intersections n direction, the phase differential that h+1 interval crossing to be controlled Adjacent Intersections n coordination phase place is coordinated phase place with respect to crossing m to be controlled is by crossing m to be controlled so by crossing m to be controlled to crossing to be controlled Adjacent Intersections n direction, crossing m to be controlled with respect to the phase differential of crossing Adjacent Intersections n 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 formula: D ^h+1each cycle of coordination phase place that is adjacent crossing m to be controlled and its Adjacent Intersections n in h+1 interval 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 formula: for coordinated the arrival wagon flow total delay of the corresponding track a of direction crossing to be controlled Adjacent Intersections n coordination phase place to crossing Adjacent Intersections n 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 crossing Adjacent Intersections n 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 formula: be that h+1 statistical interval all incured loss through delay to crossing Adjacent Intersections n coordination direction crossing to be controlled m track b to be controlled to the car of crossing Adjacent Intersections n track a 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 crossing to be controlled Adjacent Intersections n left turn phase to the car of crossing Adjacent Intersections n track a to be controlled by crossing m to be controlled;

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

for coordinating the corresponding track b of phase place to the path flow of the corresponding track a of crossing Adjacent Intersections n coordination phase place to be controlled 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 formula: be that in h+1 interval, the corresponding phase place each cycle of coordinating of crossing Adjacent Intersections n track a to be controlled is distributed the green time obtaining; S _nasaturation volume rate for the corresponding track a of crossing n coordination phase place.

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

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

In 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 formula: in the path flow that drives towards crossing Adjacent Intersections n track a to be controlled by crossing to be controlled m track b for h+1 interval obtaining of prediction, during crossing Adjacent Intersections n to be controlled coordinates phase place demonstration green light, arrive track a stop line or add the vehicle number of queuing;

If crossing m to be controlled coordinates phase place green light, to open bright be 0 constantly, and crossing Adjacent Intersections n to be controlled coordinates phase place green light and opens and be brightly constantly, crossing Adjacent Intersections n coordination phase place green light to be controlled ends up being constantly; The wagon flow that crossing to be controlled m track b drives towards crossing Adjacent Intersections n track a to be controlled is rolled away from since 0 constantly, and flow is duration is this burst of wagon flow travelling speed on arterial highway is the 'STOP' line ahead of crossing m track b to be controlled and crossing Adjacent Intersections n track a to be controlled is L _ba, t working time of this burst of wagon flow so _ba:

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

Adjacent Intersections n track, crossing to be controlled b green light displaying time scope is the time range that this burst of wagon flow arrives crossing Adjacent Intersections n track b to be controlled is wherein:

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

In formula: mod is remainder 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 the identical method can be in the hope of and then set up D ^h+1with relational expression, i.e. formula (14);

At (0, T ^h+1] in scope, make since 1 round numbers, progressively add 1 to T ^h+1, export each be worth corresponding D ^h+1, work as D ^h+1hour the most corresponding be crossing m to be controlled and crossing Adjacent Intersections n to be controlled and coordinate the optimum phase difference between phase place.

Step 6: according to signal coordinated control timing parameter picked up signal Coordinated Control Scheme, and control signal is transferred to traffic lights realizes signal coordinated control;

The described signal coordinated control of realizing is: crossing to be controlled and Adjacent Intersections thereof are carried out common period, each import track green time of crossing to be controlled, each import track green time of crossing to be controlled Adjacent Intersections, 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.

A be /h of the unit of flow Q in the method for the invention, 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:

In conjunction with adjacent Song Shan road, Tu2Yi 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), be example, the coordinating control of traffic signals method of utilizing video to detect data is described.Two crossings are all carried out four phase signals and are controlled, and are respectively thing left-hand rotation, thing craspedodrome, north and south left-hand rotation, north and south craspedodrome, and phase place phase sequence as shown in Figure 3.Right-hand rotation vehicle is not subject to signal controlling.Two crossings are at a distance of 730m.

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

Step 2, traffic flow parameter calculate

Take 5min as statistical interval, the 9:00 to 9:15 in 6 days March in 2013 that 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 the parameters such as entrance driveway flow, path flow, road-section average travelling speed.If table 1 is to as shown in 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 flows compositions (unit :/h)

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

Step 3, crossing inlet track arrive traffic flow forecasting

(1) determine crossing coordination phase place

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

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

The flow that the corresponding import of phase place track 8 arrival are coordinated in crossing 1 is comprised of three parts, is respectively crossing 2 import track 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 phase place track 2 arrival are coordinated in crossing 2 is comprised of three parts, is respectively crossing 1 import track 10 left turn traffics, import track 2 craspedodrome wagon flows, import track 6 right-hand rotation wagon flows.

(3) coordinate each burst of volume forecasting that phase place arrives

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

Table 4 crossing 1 and crossing 2 Through Lane path flows predictions (unit :/h)

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

Phase place corresponding track volume forecastings (unit :/h) are coordinated in table 5 crossing 1 and crossing 2

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

In statistical interval 4, two crossing each import track volume forecastings of non-coordination phase place are as shown in table 6.

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

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

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

Step 5, signal coordinated control timing parameter calculate

(1) common period duration calculation

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

$T_1^4=104s$

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

$T_2^4=199s$

Common period duration when two crossing executive signals are coordinated to control:

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

Crossing 2 is coordinated phase place and with respect to crossing 1, is coordinated the phase differential of phase place:

$O_{12}^4=83s$

Crossing 1 is coordinated phase place and with respect to crossing 2, is coordinated the phase differential of phase place:

$O_{21}^4=36s$

Step 6, the output of signal coordinated control scheme

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) crossing 2 is coordinated phase place and with respect to crossing 1, is coordinated the phase differential of phase place

From north to south: $O_{12}^4=83s$

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

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

Claims (4)

1. a city Adjacent Intersections signal coordinating control method that utilizes video to detect data, described method realizes based on following equipment: each importer of crossing to be controlled is to all laying a video detector, video detector is used for obtaining stop line cross-section image, and the video information output terminal of each video detector is all connected 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 obtaining according to teleseme obtains and crosses the vehicle number that each track, crossing to be controlled is passed through in statistical interval, and the vehicle number passing through according to each track, crossing to be controlled calculating traffic flow parameter, described traffic flow parameter comprises the path flow between crossing inlet to be controlled track flow, crossing inlet to be controlled track and Adjacent Intersections import 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 to magnitude of traffic flow and carry out prediction and calculation, describedly each import track, crossing to be controlled is arrived to 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 crossing coordinates to carry out after phase place the process of prediction and calculation;

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

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

Described step 5: each import track, the crossing to be controlled obtaining 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 section of phasetophase thereof the process of carrying out the calculating of signal coordinated control timing parameter that predicts the outcome and is:

(1) calculating of common period duration:

Optimal period duration when calculating respectively crossing m to be controlled and Adjacent Intersections n thereof and carry out respectively single-point signal controlling 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 formula: the signal phase number that P is crossing;

the prediction that is the corresponding import of the signal phase k track of crossing, h+1 interval arrives flow;

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

L _kfor the green light lost time of the signal phase k of crossing;

Optimal period duration when h+1 interval crossing m and Adjacent Intersections n operation single point signals thereof are controlled is respectively with

The common period duration T of execution when Adjacent Intersections carries out signal coordinated control ^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 crossing to be controlled Adjacent Intersections:

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

Wherein, p the phase place that p is crossing;

Each import track green time of crossing m to be controlled, each import track green time of crossing Adjacent Intersections n to be controlled are respectively

(3) crossing to be controlled and its Adjacent Intersections are coordinated the computing method of the phase differential of phase place:

If to crossing to be controlled Adjacent Intersections n direction, the phase differential that h+1 interval crossing to be controlled Adjacent Intersections n coordination phase place is coordinated phase place with respect to crossing m to be controlled is by crossing m to be controlled so by crossing m to be controlled to crossing to be controlled Adjacent Intersections n direction, crossing m to be controlled with respect to the phase differential of crossing Adjacent Intersections n to be controlled is $O_{\mathrm{nm}}^{\&prime;h+1},O_{\mathrm{nm}}^{\&prime;h+1}=T^{h+1}-O_{\mathrm{mn}}^{h+1};$

$\begin{array}{cc}{O}_{\mathrm{mn}}^{h+1}=\mathrm{arc}\min D^{h+1}(T^{h+1},g_{\mathrm{mp}}^{h+1},{\hat{Q}}_{\mathrm{mk}}^{\&prime;h+1},{\hat{Q}}_{\mathrm{nk}}^{\&prime;h+1})& 0<O_{\mathrm{mn}}^{h+1}\&le;T^{h+1}---\left(14\right)\end{array}$ In formula: D ^h+1each cycle of coordination phase place that is adjacent crossing m to be controlled and its Adjacent Intersections n in h+1 interval 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 formula: for coordinated the arrival wagon flow total delay of the corresponding track a of direction crossing to be controlled Adjacent Intersections n coordination phase place to crossing Adjacent Intersections n 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 crossing Adjacent Intersections n 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 formula: be that h+1 statistical interval all incured loss through delay to crossing Adjacent Intersections n coordination direction crossing to be controlled m track b to be controlled to the car of crossing Adjacent Intersections n track a 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 crossing to be controlled Adjacent Intersections n left turn phase to the car of crossing Adjacent Intersections n track a to be controlled by crossing m to be controlled;

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

for coordinating the corresponding track b of phase place to the path flow of the corresponding track a of crossing Adjacent Intersections n coordination phase place to be controlled 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 formula: be that in h+1 interval, the corresponding phase place each cycle of coordinating of crossing Adjacent Intersections n track a to be controlled is distributed the green time obtaining; S _nasaturation volume rate for the corresponding track a of crossing n coordination phase place.

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

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

In 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 formula: in the path flow that drives towards crossing Adjacent Intersections n track a to be controlled by crossing to be controlled m track b for h+1 interval obtaining of prediction, during crossing Adjacent Intersections n to be controlled coordinates phase place demonstration green light, arrive track a stop line or add the vehicle number of queuing;

If crossing m to be controlled coordinates phase place green light, to open bright be 0 constantly, and crossing Adjacent Intersections n to be controlled coordinates phase place green light and opens and be brightly constantly, crossing Adjacent Intersections n coordination phase place green light to be controlled ends up being constantly; The wagon flow that crossing to be controlled m track b drives towards crossing Adjacent Intersections n track a to be controlled is rolled away from since 0 constantly, and flow is duration is this burst of wagon flow travelling speed on arterial highway is the 'STOP' line ahead of crossing m track b to be controlled and crossing Adjacent Intersections n track a to be controlled is L _ba, t working time of this burst of wagon flow so _ba:

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

Adjacent Intersections n track, crossing to be controlled b green light displaying time scope is the time range that this burst of wagon flow arrives crossing Adjacent Intersections n track b to be controlled is wherein:

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

In formula: mod is remainder function;

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

$t_{\mathrm{ba}}=\left\{\begin{array}{cc}{g}_{\mathrm{mc}}^{h+1}& (g_{\mathrm{mc}}^{h+1}+{\hat{t}}_{\mathrm{ba}})\&le;(O_{\mathrm{mn}}^{h+1}+g_{\mathrm{nc}}^{h+1})\&{\hat{t}}_{\mathrm{ba}}\&GreaterEqual;O_{\mathrm{mn}}^{h+1}\\ g_{\mathrm{mc}}^{h+1}+{\hat{t}}_{\mathrm{ba}}-O_{\mathrm{mn}}^{h+1}& (g_{\mathrm{mc}}^{h+1}+{\hat{t}}_{\mathrm{ba}})\&le;(O_{\mathrm{mn}}^{h+1}+g_{\mathrm{nc}}^{h+1})\&(g_{\mathrm{mc}}^{h+1}+{\hat{t}}_{\mathrm{ba}})>O_{\mathrm{mn}}^{h+1}\&{\hat{t}}_{\mathrm{ba}}\&GreaterEqual;O_{\mathrm{mn}}^{h+1}\\ O_{\mathrm{mn}}^{h+1}+g_{\mathrm{nc}}^{h+1}-{\hat{t}}_{\mathrm{ba}}& (g_{\mathrm{mc}}^{h+1}+{\hat{t}}_{\mathrm{ba}})>(O_{\mathrm{mn}}^{h+1}+g_{\mathrm{nc}}^{h+1})\&({\hat{t}}_{\mathrm{ba}}\&GreaterEqual;O_{\mathrm{mn}}^{h+1})\&{\hat{t}}_{\mathrm{ba}}<(O_{\mathrm{mn}}^{h+1}+g_{\mathrm{nc}}^{h+1})\\ 0& \mathrm{else}\end{array}\right.---\left(23\right)$

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

Formula (24) substitution formula (20), (19) can be tried to achieve and then try to achieve adopt the identical method can be in the hope of and then set up D ^h+1with relational expression, i.e. formula (14);

At (0, T ^h+1] in scope, make since 1 round numbers, progressively add 1 to T ^h+1, export each be worth corresponding D ^h+1, work as D ^h+1hour the most corresponding be crossing m and crossing n and coordinate the optimum phase difference between phase place;

Step 6: according to signal coordinated control timing parameter picked up signal Coordinated Control Scheme, and control signal is transferred to traffic lights realizes signal coordinated control;

The described signal coordinated control of realizing is: crossing to be controlled and Adjacent Intersections thereof are carried out common period, each import track green time of crossing to be controlled, each import track green time of crossing to be controlled Adjacent Intersections, and the green light that phase place is coordinated in crossing simultaneously to be controlled opens the bright moment and opens with the green light of crossing to be controlled Adjacent Intersections coordination phase place the phase differential that the bright time of differing in the moment is two crossings.

2. a kind of city Adjacent Intersections signal coordinating control method that utilizes video to detect data according to claim 1, is characterized in that the process that the vehicle number passing through according to each track, crossing to be controlled described in 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, the import track i that represents crossing m to be controlled in h statistical interval has motor vehicle has been crossed stop line;

(2) computing method of crossing inlet to be controlled track and Adjacent Intersections imported car path 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 crossing Adjacent Intersections n to be controlled; ? be to have in h statistical interval motor vehicle travels to the import track j of crossing Adjacent Intersections n to be controlled from the import track i of crossing m to be controlled;

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

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

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 that Vehicle Driving Cycle that h statistical interval crossing to be controlled m import track i roll away from is to the average velocity in the Adjacent Intersections operational process of crossing to be controlled.

3. a kind of city Adjacent Intersections signal coordinating control method that utilizes video to detect data according to claim 1 and 2, is characterized in that step 3: the process that each import track arrival magnitude of traffic flow of crossing to be controlled is carried out to prediction and calculation comprises 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 traffic flow composition analysis, described traffic flow consists of coordinates whole wagon flows that each import track of Adjacent Intersections, 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 the flow at h+1 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 corresponding track b of phase place to the path flow of the corresponding track a of crossing Adjacent Intersections n coordination phase place to be controlled by crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

for coordinating the path flow of the corresponding track a of phase place to crossing Adjacent Intersections n to be controlled by the corresponding track e of the non-coordination phase place of crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

for coordinating the path flow of the corresponding track a of phase place to crossing Adjacent Intersections n to be controlled by the corresponding track r of the non-coordination phase place of crossing m to be controlled in h+1 the interval that prediction and calculation obtains;

Wherein:

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

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

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

In formula: be respectively h, h-1, a h-2 interval and by crossing m to be controlled, coordinated the Actual path flow of the corresponding track a of the corresponding track b of phase place Adjacent Intersections n coordination in crossing extremely to be controlled phase place;

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

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

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

If track i is an import track corresponding to the non-coordination phase place of crossing m to be controlled, 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 city Adjacent Intersections signal coordinating control method 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 section of coordinating phasetophase thereof being carried out to motor vehicle average running speed prediction and calculation is:

H+1 statistical interval predicts that the section motor vehicle average running speed obtaining 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 formula: represent that respectively Vehicle Driving Cycle that h, h-1, crossing to be controlled, h-2 interval m import track i roll away from is to the average velocity in the Adjacent Intersections operational process of crossing to be controlled.