CN103366586A - Coordination control method and system for main-branch path mixing area - Google Patents

Abstract

The invention discloses a coordination control method and system for a main-branch path mixing area. The method comprises the steps that the main-branch path mixing area is divided into a plurality of sub-areas; for each sub-area, moving amount between actual intersections and set ideal intersections in the sub-area is obtained based on each ideal intersection separation distance in a plurality of set ideal intersection separation distances, and the best period of the sub-area and the best phase difference of all the intersections in the sub-area are determined based on the moving amount; for each intersection in each sub-area, the intersection predicted saturability of each scheme of a plurality of preset split schemes used in the next period is calculated, and the split scheme corresponding to intersection predicted saturability with the minimum value is determined to be the best split scheme of the intersection. The coordination control method and system for the main-branch path mixing area reduce algorithmic complexity, reduce systemic input quantity, and can conduct coordination control on the area dynamically in real time.

Description

Control method for coordinating and the system of Mixed Zone, Heavenly Stems and Earthly Branches road

Technical field

The present invention relates to traffic administration and control field, relate in particular to control method for coordinating and the system of Mixed Zone, a kind of Heavenly Stems and Earthly Branches road.

Background technology

Along with rapid development of economy, the number extreme expansion of China's vehicle does not have at path area under the condition of corresponding expansion, and traffic jam has seriously become one of greatest problem of all city management, and day by day becomes the key factor that hinders urban development.The rational regional coordination control program of design one cover is solving road traffic jam, main mode and the approach of optimizing the traffic distribution.

At present, abroad comparatively success and widely used area control system have choosing project mode SCATS system, fixed off line control system TRANSYT, scheme production SCOOT system.Yet the SCACT system does not use traffic model, limited phase differential, the degree of optimization in cycle, so trade-off effect is not good.TRANSYT system-computed amount is too large, a large amount of network geometry size and the traffic flow datas of needs.The SCOOT system also needs a large amount of road network physical dimension and traffic flow data, and the transport need that is not enough to respond each cycle is adjusted in small step longways.

Mainly there is following shortcoming at present regional coordination control: computation complexity is high, the required input variable many and non real-time property.

Therefore, need badly a kind of complexity that can reduce calculating, reduce required input quantity, can coordinate control and respond well scheme to the zone real-time dynamicly.

Summary of the invention

One of technical matters to be solved by this invention is the control method for coordinating that Mixed Zone, a kind of Heavenly Stems and Earthly Branches road need to be provided, and the complexity that the method reduce to be calculated, the required input quantity that reduces, can coordinate control to the zone real-time dynamicly, and respond well.In addition, the present invention also provides the coordinated control system of Mixed Zone, a kind of Heavenly Stems and Earthly Branches road.

In order to solve the problems of the technologies described above, the invention provides the control method for coordinating of Mixed Zone, a kind of Heavenly Stems and Earthly Branches road, comprising: partiting step is divided into a plurality of subareas with Mixed Zone, described Heavenly Stems and Earthly Branches road; The first determining step, for each subarea, based on the amount of moving between the intersection of ideals prong that obtains inner actual crossing, this subarea under each intersection of ideals prong spacing condition in a plurality of intersection of ideals prong spacings that set and set, determine the optimum phase difference of inner each crossing of optimal period and this subarea in this subarea based on these amounts of moving; The second determining step, for each crossing in each subarea, current each phase place saturation degree based on this crossing, calculate next cycle and use the expectation of the crossing after each scheme saturation degree in default a plurality of split schemes, the crossing that value is minimum estimates that the corresponding split scheme of saturation degree is defined as the Optimal green signal ratio scheme of this crossing, wherein, described split scheme accounts for the ratio value of signal period length for each phase place green time.

In one embodiment, in described the first determining step, further comprise: S21, set a plurality of intersection of ideals prong distance values; S22, under each intersection of ideals prong spacing condition, calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing, then, the resulting amount of moving is sequentially sorted according to setting, and each the adjacent amount of moving after the calculating ordering is poor; S23, the amount of the moving difference of selective value maximum from the difference of each adjacent amount of moving of obtaining for all intersection of ideals prong spacings, the intersection of ideals prong spacing that this amount of moving difference is corresponding is defined as the best intersection of ideals prong spacing in this subarea; S24 obtains the optimal period in this subarea based on described best intersection of ideals prong spacing; S25, according to described best intersection of ideals prong spacing and the maximum amount of moving difference, determine and to having the crossing of maximum offset between should the intersection of ideals prong of best intersection of ideals prong spacing, then obtain the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings according to this crossing and described maximum offset, and determine that the sequence number of the intersection of ideals prong of other crossings skews is odd number or even number; S26 sets respectively the coordination mode of corresponding odd number intersection of ideals prong and corresponding even number intersection of ideals prong, and determines the optimum phase difference of inner each crossing, this subarea according to coordination mode.

In one embodiment, utilize following formula to set a plurality of intersection of ideals prong spacing m _μ:

$m_{\mathrm{\μ}}=\frac{{\mathrm{vc}}_{\mathrm{\β}}}{2}-10+\mathrm{\μ}$

Wherein, c _βIn the initial period that represents this subarea, v represents the average overall travel speed of vehicle in the arterial highway, and the μ value is the integer of [1,21].

In one embodiment, under each intersection of ideals prong spacing condition, utilize following formula to calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing:

${\mathrm{\Δ\α}}_{m_{\mathrm{\μ}},\mathrm{\ζ}}=\left\{\begin{array}{cc}0& (\mathrm{\ζ}=1)\\ f(s,m_{\mathrm{\μ}},\mathrm{\ζ})& (\mathrm{\ζ}=2,3\·\·\·u)\end{array}\right.$

$0\&le;f(s,m_{\mathrm{\&mu;}},\mathrm{\&zeta;})=\underset{1}{\overset{\mathrm{\&zeta;}-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{\&mu;}}<m_{\mathrm{\&mu;}}(k\&Element;[0,u\left]\right)$

Wherein,

Expression is for intersection of ideals prong spacing m _μ, the crossing sequence number is the amount of moving of ζ, u represents the crossing number, s represents the set of all crossing spacings, by s ₁, s ₂... s _αForm.

In one embodiment, will try to achieve the amount of moving of 21 nearest intersection of ideals prongs in each crossing under the intersection of ideals prong distance values, arrangement obtains moving moment matrix Δ α _{21 * u}:

${\mathrm{\&Delta;\&alpha;}}_{21\&times;u}=\left[\begin{array}{cccc}{\mathrm{\&Delta;\&alpha;}}_{m_1,1}& {\mathrm{\&Delta;\&alpha;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_1,u}\\ {\mathrm{\&Delta;\&alpha;}}_{m_2,1}& {\mathrm{\&Delta;\&alpha;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_2,u}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&Delta;\&alpha;}}_{m_{21},1}& {\mathrm{\&Delta;\&alpha;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_{21},u}\end{array}\right]$

Then, will move moment matrix Δ α _{21 * u}In value in every delegation arrange from small to large ord and obtain matrix β _{21 * u}:

${\mathrm{\&beta;}}_{21\&times;u}=\left[\begin{array}{cccc}{\mathrm{\&beta;}}_{m_1,1}& {\mathrm{\&beta;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_1,u}\\ {\mathrm{\&beta;}}_{m_2,1}& {\mathrm{\&beta;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_2,u}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&beta;}}_{m_{21},1}& {\mathrm{\&beta;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_{21},u}\end{array}\right]$

Then with matrix β _{21 * u}Adjacent two numbers of every delegation are subtracted each other, and obtain the amount of moving matrix of differences Δ β _{21 * (u-1)}:

${\mathrm{\&Delta;\&beta;}}_{21\&times;(u-1)}=\left[\begin{array}{cccc}{\mathrm{\&Delta;\&beta;}}_{m_1,1}& {\mathrm{\&Delta;\&beta;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_1,u-1}\\ {\mathrm{\&Delta;\&beta;}}_{m_2,1}& {\mathrm{\&Delta;\&beta;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_2,u-1}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&Delta;\&beta;}}_{m_{21},1}& {\mathrm{\&Delta;\&beta;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_{21},u-1}\end{array}\right]$

In one embodiment, at first find out the described amount of moving matrix of differences Δ β _{21 * (u-1)}Middle maximal value

Δ β _MaxThe spacing of corresponding intersection of ideals prong is m _Opt, then utilize following formula to calculate maximum offset δ:

$\mathrm{\&delta;}=\frac{m_{\mathrm{opt}}-\mathrm{\&Delta;}{\mathrm{\&beta;}}_{\max }}{2}$

Wherein, m _OptRepresent best intersection of ideals prong spacing, Δ β _MaxThe expression maximum amount of moving.

In one embodiment, utilize following formula to calculate the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings among the S25:

$f(\mathrm{\&delta;},m_{\mathrm{opt}},s,\mathrm{\&zeta;},\mathrm{\&lambda;})=$ $\left\{\begin{array}{cc}k\&Element;[0,u]|\min \left(\right|\underset{k}{\overset{\mathrm{\&lambda;}-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{opt}}+\mathrm{\&delta;}\left|\right)& (\mathrm{\&zeta;}<\mathrm{\&lambda;})\\ k\&Element;[0,u]|\min \left(\right|\underset{\mathrm{\&lambda;}}{\overset{k-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{opt}}-\mathrm{\&delta;}\left|\right)& (\mathrm{\&zeta;}>\mathrm{\&lambda;})\end{array}\right.$

Wherein, l _ζRepresent the side-play amount of actual crossing and intersection of ideals prong, δ represents maximum offset, and λ represents and corresponding best intersection of ideals prong spacing m _OptThe intersection of ideals prong between have the crossing sequence number of maximum offset δ, u represents the crossing number, s represents the set of all crossing spacings, by s ₁, s ₂... s _αForm t _ζExpression crossing odd even identifier.

In one embodiment, in described the second determining step, further comprise: S31, according to current period constantly the saturation degree of each phase place of this crossing and current period constantly the employed split scheme in this crossing calculate the expectation saturation degree that next cycle uses each phase place of each scheme in default a plurality of split schemes constantly; S32 uses each phase place of each scheme in default a plurality of split schemes to estimate saturation degree based on next cycle constantly, calculates next cycle constantly to use in default a plurality of split schemes the crossing after each scheme to estimate saturation degree; S33, the crossing of each scheme that obtains from step S32 estimates the saturation degree, saturation degree is estimated in the minimum crossing of the value of selecting, and will adopt the scheme of this value correspondence to be defined as the Optimal green signal ratio scheme of this crossing.

In one embodiment, utilize following formula to calculate the expectation saturation degree of each phase place of each scheme among the S31:

$d_{i,k,j}^{t+1}=d_{i,j}^t\&times;\frac{a_j}{a_{k,j}}(k=\mathrm{1,2},\&CenterDot;\&CenterDot;\&CenterDot;N)$

Wherein, t represents current period constantly, and t+1 represents next cycle constantly,

Representing next cycle of this crossing adopts k sets of plan j phase place to estimate saturation degree,

Represent the saturation degree of current this crossing phase place j, a _jRepresent the split of phase place j in the current split scheme, a _K.jRepresent the split of phase place j in the k sets of plan.

In one embodiment, utilize following formula to calculate the crossing expectation saturation degree after each scheme of use among the S32:

$d_k^{\max }=\{j\&Element;(1,{\mathrm{\&tau;}}_i)|\max \left(d_{i,k,j}^{t+1}\right)\}$

Wherein,

Represent this crossing and adopt expectation saturation degree after k overlaps green scheme, j represents phase item, τ _iRepresent total number of phases of this crossing,

Representing next cycle of this crossing adopts k sets of plan j phase place to estimate saturation degree constantly.

In one embodiment, in described partiting step, further comprise: S11, each arterial highway is as benchmark in the Mixed Zone, described Heavenly Stems and Earthly Branches road, all crossings on each arterial highway are divided into a subarea in advance, and then Mixed Zone, described Heavenly Stems and Earthly Branches road is divided into a plurality of subareas in advance; S12 merged and deconsolidation process ready-portioned subarea based on initial period in each subarea.

In one embodiment, in the S12 step, further comprise: the initial period of calculating each subarea; Calculate each subarea initial period difference each other, if the initial period difference less than setting value, then will be merged into a new subarea about two subareas of this cycle difference; If the initial period difference between two subareas after merging is greater than described setting value, then in these two subareas each is split go back to two original subareas.

According to a further aspect in the invention, also provide the coordinated control system of Mixed Zone, a kind of Heavenly Stems and Earthly Branches road, having comprised: divide module, it is divided into a plurality of subareas with Mixed Zone, described Heavenly Stems and Earthly Branches road; The first determination module, it is for each subarea, based on the amount of moving between the intersection of ideals prong that obtains inner actual crossing, this subarea under each desired pitch condition in a plurality of desired pitch that set and set, determine the optimum phase difference of inner each crossing of optimal period and this subarea in this subarea based on these amounts of moving; The second determination module, it is for each crossing in each subarea, current each phase place saturation degree based on this crossing, calculate next cycle and use the expectation of the crossing after each scheme saturation degree in default a plurality of split schemes, the crossing that value is minimum estimates that the corresponding split scheme of saturation degree is defined as the Optimal green signal ratio scheme of this crossing, wherein, described split scheme accounts for the ratio value of signal period length for each phase place green time.

In one embodiment, in described the first determination module, further comprise: setup unit, it sets a plurality of intersection of ideals prong spacings; The amount of moving is calculated sequencing unit, it is under each intersection of ideals prong spacing condition, calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing, then, the resulting amount of moving is sequentially sorted according to setting, and each the adjacent amount of moving after the calculating ordering is poor; The desired pitch determining unit, the amount of the moving difference of its selective value maximum from the difference of each adjacent amount of moving of obtaining for all intersection of ideals prong spacings, the intersection of ideals prong spacing that this amount of moving difference is corresponding is defined as the best intersection of ideals prong spacing in this subarea; The optimal period determining unit, it obtains the optimal period in this subarea based on described best intersection of ideals prong spacing; The side-play amount computing unit, it is according to described best intersection of ideals prong spacing and the maximum amount of moving difference, determine and to having the crossing of maximum offset between should the intersection of ideals prong of best intersection of ideals prong spacing, then obtain the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings according to this crossing and described maximum offset, and determine that the sequence number of the intersection of ideals prong of other crossings skews is odd number or even number; The optimum phase difference determining unit, it sets respectively the coordination mode of corresponding odd number intersection of ideals prong and corresponding even number intersection of ideals prong, and determines the optimum phase difference of inner each crossing, this subarea according to coordination mode.

In one embodiment, in described the second determination module, further comprise: phase place saturation computation unit, its according to current period constantly the saturation degree of each phase place of this crossing and current period constantly the employed split scheme in this crossing calculate the expectation saturation degree that next cycle uses each phase place of each scheme in default a plurality of split schemes constantly; The intersection saturation degree computing unit, it uses each phase place of each scheme in default a plurality of split schemes to estimate saturation degree based on next cycle constantly, calculates next cycle constantly to use in default a plurality of split schemes the crossing after each scheme to estimate saturation degree; Preferred plan determining unit, its crossing from each scheme of obtaining estimate the saturation degree, and saturation degree is estimated in the minimum crossing of the value of selecting, and will adopt the scheme of this value correspondence to be defined as the Optimal green signal ratio scheme of this crossing.

In one embodiment, in described division module, further comprise: division unit in advance, its in the Mixed Zone, described Heavenly Stems and Earthly Branches road each arterial highway as benchmark, all crossings on each arterial highway are divided into a subarea in advance, and then Mixed Zone, described Heavenly Stems and Earthly Branches road is divided into a plurality of subareas in advance; The subarea processing unit, its initial period based on each subarea merges and deconsolidation process ready-portioned subarea.

Compared with prior art, one or more embodiment of the present invention can have following advantage:

The present invention proposes a kind of take main line as main regional coordination control method, the method at first is preset as the zone several subareas, and dynamically the subarea is merged and fractionation based on the cycle principle, then in inside, subarea main line is adopted the green wave coordination control algolithm, obtain subarea optimal period and each crossing optimum phase difference, at last the single-point Split Optimization algorithm of estimating based on saturation degree is adopted in all crossings, select next cycle Optimal green signal ratio scheme.The present invention reduced algorithm complexity, reduced system input quantity, can be real-time dynamicly coordinate control to the zone.

Other features and advantages of the present invention will be set forth in the following description, and, partly from instructions, become apparent, perhaps understand by implementing the present invention.Purpose of the present invention and other advantages can realize and obtain by specifically noted structure in instructions, claims and accompanying drawing.

Description of drawings

Accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of instructions, jointly is used for explaining the present invention with embodiments of the invention, is not construed as limiting the invention.In the accompanying drawings:

Fig. 1 is the schematic flow sheet of the control method for coordinating of Mixed Zone, Heavenly Stems and Earthly Branches road according to an embodiment of the invention;

Fig. 2 is the exemplary plot that inner Heavenly Stems and Earthly Branches road, subarea mixes;

Fig. 3 is the schematic flow sheet of green wave coordination control algolithm according to an embodiment of the invention;

Fig. 4 is the exemplary plot of determining the side-play amount between actual crossing and the intersection of ideals prong according to best intersection of ideals prong spacing;

Fig. 5 is the schematic flow sheet of single-point Split Optimization algorithm according to an embodiment of the invention;

Fig. 6 is the structural representation of the coordinated control system of Mixed Zone, Heavenly Stems and Earthly Branches road according to an embodiment of the invention.

Embodiment

Describe embodiments of the present invention in detail below with reference to drawings and Examples, how the application technology means solve technical matters to the present invention whereby, and the implementation procedure of reaching technique effect can fully understand and implements according to this.Need to prove, only otherwise consist of conflict, each embodiment among the present invention and each feature among each embodiment can mutually combine, and formed technical scheme is all within protection scope of the present invention.

In addition, can in the computer system such as one group of computer executable instructions, carry out in the step shown in the process flow diagram of accompanying drawing, and, although there is shown logical order in flow process, but in some cases, can carry out step shown or that describe with the order that is different from herein.

Please refer to Fig. 1, Fig. 1 is the process flow diagram of the control method for coordinating of Mixed Zone, Heavenly Stems and Earthly Branches road according to an embodiment of the invention.

Following " step " two words that omit of step S110(), whole zone (Mixed Zone, Heavenly Stems and Earthly Branches road) is divided into a plurality of subareas.

Particularly, in order to keep the integrality of road, take each arterial highway as benchmark, along the arterial highway direction, all crossings on each arterial highway are divided into a subarea in advance, and then several subareas are divided in whole zone.

S120 merged and deconsolidation process ready-portioned subarea based on initial period in each subarea.

Particularly, at first, calculate the initial period in each subarea, then calculate the poor of each subarea initial period each other, if the difference in the initial period in two subareas is during less than setting value ξ (ξ is a constant, generally get ξ＜10 second), then these two subareas are merged into a new subarea; If the difference that has merged the initial period between two good subareas is during greater than ξ, then the subarea of these two merging is split go back to respectively original two subareas independently.

S130, based on the green wave coordination control algolithm, the inward trunk in each subarea that step S120 is obtained is coordinated control, obtains the optimal period in each subarea and the optimum phase difference of each crossing.

Green wave coordination control algolithm in the present embodiment, further be for each subarea, based on the amount of moving between the intersection of ideals prong that obtains actual crossing, this subarea under each desired pitch condition in a plurality of desired pitch that set and set, determine the optimum phase difference of inner each crossing of optimal period and this subarea in this subarea based on these amounts of moving.

Please refer to Fig. 2 and Fig. 3, further understand the green wave coordination control algolithm in the present embodiment.

Fig. 2 is that inner Heavenly Stems and Earthly Branches road, subarea mixes exemplary plot, and as shown in Figure 2, there is b the crossing of certain main line in this subarea ₁, b ₂... b _u, the crossing sequence number be ζ (ζ=1,2...u); The initial period in this subarea is c _βThe Adjacent Intersections spacing is s _α(α=1,2...u-1); Each crossing is a along the split of arterial highway direction phase place _ζ(ζ=1,2...u), the average overall travel speed of vehicle is v in the arterial highway.

Fig. 3 is according to the schematic flow sheet of the green wave coordination control algolithm of the embodiment of the invention, please refer to Fig. 3, further specifies each step of this algorithm.

Step S1301 sets a plurality of intersection of ideals prong spacings.

In the present embodiment, utilize following formula (1) to set intersection of ideals prong spacing m _μ(μ=1, scope 2...21) easily is understood that, the span of μ about integer range [1,21], preferred μ=1,2...21.

$m_{\mathrm{\&mu;}}=\frac{{\mathrm{vc}}_{\mathrm{\&beta;}}}{2}-10+\mathrm{\&mu;}(\mathrm{\&mu;}=\mathrm{1,2}...21)---\left(1\right)$

Step S1302, for each intersection of ideals prong spacing, calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing, then, the resulting amount of moving is sequentially sorted according to setting, and each the adjacent amount of moving after the calculating ordering is poor.

Particularly, at first, be m for each desired pitch _μ(amount of moving of actual crossing and intersection of ideals prong in the time of 2...21), is calculated in μ=1.Can obtain like this amount of moving of the nearest intersection of ideals prong in each crossing under 21 intersection of ideals prong distance values, arrangement obtains moving moment matrix Δ α _{21 * u}, its formula specific as follows represents.

${\mathrm{\&Delta;\&alpha;}}_{m_{\mathrm{\&mu;}},\mathrm{\&zeta;}}=\left\{\begin{array}{cc}0& (\mathrm{\&zeta;}=1)\\ f(s,m_{\mathrm{\&mu;}},\mathrm{\&zeta;})& (\mathrm{\&zeta;}=2,3...u)\end{array}\right.---\left(2\right)$

$0\&le;f(s,m_{\mathrm{\&mu;}},\mathrm{\&zeta;})=\underset{1}{\overset{\mathrm{\&zeta;}-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{\&mu;}}<m_{\mathrm{\&mu;}}(k\&Element;[0,u\left]\right)---\left(3\right)$

Wherein, s represents the set of all crossing spacings, and namely s is by s ₁, s ₂... s _αForm.

Particularly, will try to achieve the amount of moving of 21 nearest intersection of ideals prongs in each crossing under the intersection of ideals prong distance values, arrangement obtains moving moment matrix Δ α _{21 * u}:

${\mathrm{\&Delta;\&alpha;}}_{21\&times;u}=\left[\begin{array}{cccc}{\mathrm{\&Delta;\&alpha;}}_{m_1,1}& {\mathrm{\&Delta;\&alpha;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_1,u}\\ {\mathrm{\&Delta;\&alpha;}}_{m_2,1}& {\mathrm{\&Delta;\&alpha;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_2,u}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&Delta;\&alpha;}}_{m_{21},1}& {\mathrm{\&Delta;\&alpha;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_{21},u}\end{array}\right]$

Then, will be m in desired pitch _μ(μ=1, the amount of moving of obtaining under condition 2...21) is arranged by order from small to large, i.e. matrix Δ α _{21 * u}Every delegation is by arranging from small to large, obtains the new moment matrix β that moves _{21 * u}:

${\mathrm{\&beta;}}_{21\&times;u}=\left[\begin{array}{cccc}{\mathrm{\&beta;}}_{m_1,1}& {\mathrm{\&beta;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_1,u}\\ {\mathrm{\&beta;}}_{m_2,1}& {\mathrm{\&beta;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_2,u}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&beta;}}_{m_{21},1}& {\mathrm{\&beta;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_{21},u}\end{array}\right]$

At last, obtain matrix β _{21 * u}The adjacent amount of moving of every delegation poor obtains the amount of moving matrix of differences Δ β _{21 * (u-1)}

${\mathrm{\&Delta;\&beta;}}_{21\&times;(u-1)}=\left[\begin{array}{cccc}{\mathrm{\&Delta;\&beta;}}_{m_1,1}& {\mathrm{\&Delta;\&beta;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_1,u-1}\\ {\mathrm{\&Delta;\&beta;}}_{m_2,1}& {\mathrm{\&Delta;\&beta;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_2,u-1}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&Delta;\&beta;}}_{m_{21},1}& {\mathrm{\&Delta;\&beta;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_{21},u-1}\end{array}\right]$

Step S1303, the amount of the moving difference of selective value maximum from the difference of each adjacent amount of moving of obtaining for all intersection of ideals prong spacings, the intersection of ideals prong spacing that this amount of moving difference is corresponding is defined as the best intersection of ideals prong spacing in this subarea.

Particularly, the amount of the moving matrix of differences Δ β that obtains from step S1302 _{21 * (u-1)}In choose maximal value

Δ β _MaxThe spacing of corresponding intersection of ideals prong is m _OptAccording to " move difference maximum principle ", namely move difference larger, represent that position, actual crossing more concentrates near the intersection of ideals prong, so the best intersection of ideals prong spacing in this subarea is m _Opt

Step 1304 obtains the optimal period c in this subarea based on best intersection of ideals prong spacing _Opt

Particularly, can calculate with reference to following formula:

$c_{\mathrm{opt}}=\frac{{2m}_{\mathrm{opt}}}{v}---\left(4\right)$

Wherein, v represents the average overall travel speed of vehicle in the arterial highway.

Step 1305, according to best intersection of ideals prong spacing and the maximum amount of moving difference, determine and to having the crossing of maximum offset between should the intersection of ideals prong of best intersection of ideals prong spacing, then obtain the side-play amount of other crossings and corresponding intersection of ideals prong according to this crossing and maximum offset, and determine that the sequence number of the intersection of ideals prong of other crossings skews is odd number or even number.

Particularly, according to the desirable intercross distance m of the best _OptAnd the maximum amount of moving Δ β _Max, determine that the maximum offset between actual crossing and the intersection of ideals prong is δ, and the corresponding actual crossing sequence number λ of maximum offset δ, specifically utilize following formula to calculate.

$\mathrm{\&delta;}=\frac{m_{\mathrm{opt}}-{\mathrm{\&Delta;\&beta;}}_{\max }}{2}---\left(5\right)$

As shown in Figure 4, take crossing λ as basic point, push ahead δ and be an intersection of ideals prong, then according to actual crossing spacing and intersection of ideals prong spacing, obtain the side-play amount l of other crossings and intersection of ideals prong according to formula (6), (7) recursion _ζ, what then determine the skew of actual crossing is odd number intersection of ideals prong or even number intersection of ideals prong again, draws the odd even identifier of crossing, for example No. 1 actual crossing skew is an intersection of ideals prong, is odd number intersection of ideals prong, t ₁=1; No. 2 actual crossing skews be No. two intersection of ideals prongs, 3, No. 4 actual crossing skews be No. four intersection of ideals prongs, all be even number intersection of ideals prong, t ₂=0, t ₃=0, t ₄=0;

$f(\mathrm{\&delta;},m_{\mathrm{opt}},s,\mathrm{\&zeta;},\mathrm{\&lambda;})=$

$\left\{\begin{array}{cc}k\&Element;[0,u]|\min \left(\right|\underset{k}{\overset{\mathrm{\&lambda;}-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{opt}}+\mathrm{\&delta;}\left|\right)& (\mathrm{\&zeta;}<\mathrm{\&lambda;})\\ k\&Element;[0,u]|\min \left(\right|\underset{\mathrm{\&lambda;}}{\overset{k-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{opt}}-\mathrm{\&delta;}\left|\right)& (\mathrm{\&zeta;}>\mathrm{\&lambda;})\end{array}\right.---\left(7\right)$

In the formula: l _ζRepresent the side-play amount of actual crossing and intersection of ideals prong; t _ζRepresent crossing odd even identifier.

Step 1306 is set respectively the coordination mode of the desirable crossing of corresponding odd number intersection of ideals prong and corresponding even number, and determines the optimum phase difference of inner each crossing, this subarea according to coordination mode.

Particularly, close on one group of crossing of odd number intersection of ideals prong and adopt synchronous coordination, synchronous coordination is adopted in one group of crossing closing on even number intersection of ideals prong, and (synchronous coordination refers to not consider green ripple loss, relative phase difference between two crossings is 0), close on the odd number crossing and close on and adopt mutual the coordination between the even number crossing.Namely as among Fig. 4, the mutual coordination adopted in No. 1 crossing and No. 2 crossings, and phase differential differs half period, adopts synchronous coordinations with No. 3 crossings No. 2, (coordinate to refer to not consider green ripple loss alternately, the relative phase difference between two crossings is half period)

Determine u crossing optimum phase difference according to coordination mode

Formula specific as follows is calculated.

From above step, can find out that needed variable only is the initial period in crossing spacing, subarea, the split of the current direction phase place of main line in the green wave coordination control algolithm, compared to existing technology, the variable that needs seldom, reduce the complexity of algorithm, reduced the input quantity of system.

After the optimum phase of the optimal period of having obtained each subarea and each each crossing, subarea, also need to obtain the Optimal green signal ratio scheme of each crossing, could realize the coordination control in each subarea fully.

Step S140 takes single-point Split Optimization algorithm to all crossings, obtains the Optimal green signal ratio scheme of each crossing.

Single-point Split Optimization algorithm in the present embodiment, further be for each crossing in each subarea, current each phase place saturation degree based on this crossing, calculate next cycle and use the expectation of the crossing after each scheme saturation degree in default a plurality of split schemes, the corresponding split scheme of the intersection saturation degree that numerical value is minimum is defined as the Optimal green signal ratio scheme of this crossing.Wherein, the split scheme accounts for the ratio value of signal period length for each phase place green time.

Fig. 5 is the schematic flow sheet of single-point Split Optimization algorithm according to an embodiment of the invention.Please refer to Fig. 5 and further specify single-point Split Optimization algorithm.

Setting the split amount of projects that certain crossing is stored in teleseme is N.The saturation degree that records the moment in t cycle current crossing each phase place of i by sensor is Wherein j represents the phase item.

Step 1401, according to current period constantly the saturation degree of each phase place of this crossing and current period constantly the employed split scheme in this crossing calculate the expectation saturation degree that next cycle uses each phase place of each scheme in default a plurality of (N cover) split scheme constantly.

Particularly, can utilize following formula to calculate:

$d_{i,k,j}^{t+1}=d_{i,j}^t\&times;\frac{a_j}{a_{k,j}},(k=\mathrm{1,2},\&CenterDot;\&CenterDot;\&CenterDot;N)---\left(10\right)$

In the formula, t represents current period constantly, and t+1 represents next cycle constantly,

Representing next cycle of this crossing adopts k sets of plan j phase place to estimate saturation degree,

Represent the saturation degree of current this crossing phase place j, a _jRepresent the split of phase place j in the current split scheme, a _K.jRepresent the split of phase place j in the k sets of plan.

This step can be coordinated control to the zone real-time dynamicly by measuring the expectation saturation degree of each phase place of current crossing, and real-time is better.

Step S1402 uses each phase place of each scheme in default a plurality of split schemes to estimate saturation degree based on next cycle constantly, calculates next cycle constantly to use in default a plurality of split schemes the crossing after each scheme to estimate saturation degree.

Particularly, can utilize following formula to calculate:

$d_k^{\max }=\{j\&Element;(1,{\mathrm{\&tau;}}_i)|\max \left(d_{i,k,j}^{t+1}\right)\}---\left(11\right)$

Wherein,

Represent this crossing and adopt expectation saturation degree after k overlaps green scheme, j represents phase item, τ _iRepresent total number of phases of this crossing,

Representing next cycle of this crossing adopts k sets of plan j phase place to estimate saturation degree.

Step S1403, the intersection saturation degree of each scheme that obtains from step S1402, saturation degree is estimated in the minimum crossing of the value of selecting, and will adopt the scheme of this value correspondence to be defined as the Optimal green signal ratio scheme of this crossing.

Can find out from above-mentioned expression formula (10), (11), when utilizing the Split Optimization algorithm to calculate the split scheme, only use current each phase place saturation degree, and the variablees such as other cycles, the speed of a motor vehicle do not need to use, and have therefore reduced the input quantity of system and can implement and dynamically control has been coordinated in the zone.

The present embodiment proposes a kind of take main line as main regional coordination control method, the method at first is preset as the zone several subareas, and dynamically the subarea is merged and fractionation based on the cycle principle, then in inside, subarea main line is adopted the green wave coordination control algolithm, obtain subarea optimal period and each crossing optimum phase difference, at last the single-point Split Optimization algorithm of estimating based on saturation degree is adopted in all crossings, select next cycle Optimal green signal ratio scheme.Reduced the complexity of algorithm, the input quantity that has reduced system can be real-time dynamicly be coordinated control to the zone.

In addition, also provide the coordinated control system of Mixed Zone, a kind of Heavenly Stems and Earthly Branches road, please refer to Fig. 6.

As shown in Figure 6, this coordinated control system comprises and divides module 51, the first determination module 52 and the second determination module 53.

Wherein, divide module 51, it is divided into a plurality of subareas with Mixed Zone, Heavenly Stems and Earthly Branches road.Divide in the module 51, further comprise: division unit 511 in advance, and its each arterial highway in the Mixed Zone, Heavenly Stems and Earthly Branches road is divided in advance a subarea with all crossings on each arterial highway, and then Mixed Zone, Heavenly Stems and Earthly Branches road is divided into a plurality of subareas in advance as benchmark; Subarea processing unit 512, its initial period based on each subarea merges and deconsolidation process ready-portioned subarea.

The first determination module 52, it is for each subarea, based on the amount of moving between the intersection of ideals prong that obtains inner actual crossing, this subarea under each desired pitch condition in a plurality of desired pitch that set and set, determine the optimum phase difference of inner each crossing of optimal period and this subarea in this subarea based on these amounts of moving.

In the first determination module 52, further comprise:

Setup unit 521, it sets a plurality of intersection of ideals prong spacings;

The amount of moving is calculated sequencing unit 522, it is under each intersection of ideals prong spacing condition, calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing, then, the resulting amount of moving is sequentially sorted according to setting, and each the adjacent amount of moving after the calculating ordering is poor;

Desired pitch determining unit 523, the amount of the moving difference of its selective value maximum from the difference of each adjacent amount of moving of obtaining for all intersection of ideals prong spacings, the intersection of ideals prong spacing that this amount of moving difference is corresponding is defined as the best intersection of ideals prong spacing in this subarea;

Optimal period determining unit 524, it obtains the optimal period in this subarea based on described best intersection of ideals prong spacing;

Side-play amount computing unit 525, it is according to described best intersection of ideals prong spacing and the maximum amount of moving difference, determine and to having the crossing of maximum offset between should the intersection of ideals prong of best intersection of ideals prong spacing, then obtain the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings according to this crossing and described maximum offset, and determine that the sequence number of the intersection of ideals prong of other crossings skews is odd number or even number;

Optimum phase difference determining unit 526, it sets respectively the coordination mode of the crossing of corresponding odd number intersection of ideals prong and corresponding even number intersection of ideals prong, and determines the optimum phase difference of inner each crossing, this subarea according to coordination mode.

The second determination module 53, it is for each crossing in each subarea, current each phase place saturation degree based on this crossing, calculate next cycle and use the expectation of the crossing after each scheme saturation degree in default a plurality of split schemes, the crossing that value is minimum estimates that the corresponding split scheme of saturation degree is defined as the Optimal green signal ratio scheme of this crossing, wherein, described split scheme accounts for the ratio value of signal period length for each phase place green time.

In the second determination module 53, further comprise:

Phase place saturation computation unit 531, its according to current period constantly the saturation degree of each phase place of this crossing and current period constantly the employed split scheme in this crossing calculate the expectation saturation degree that next cycle uses each phase place of each scheme in default a plurality of split schemes constantly;

Intersection saturation degree computing unit 532, it uses each phase place of each scheme in default a plurality of split schemes to estimate saturation degree based on next cycle constantly, calculates next cycle constantly to use in default a plurality of split schemes the crossing after each scheme to estimate saturation degree;

Preferred plan determining unit 533, its crossing from each scheme of obtaining estimate the saturation degree, and saturation degree is estimated in the minimum crossing of the value of selecting, and will adopt the scheme of this value correspondence to be defined as the Optimal green signal ratio scheme of this crossing.

Those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the memory storage and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.

Although the disclosed embodiment of the present invention as above, the embodiment that described content just adopts for the ease of understanding the present invention is not to limit the present invention.Technician in any the technical field of the invention; under the prerequisite that does not break away from the disclosed spirit and scope of the present invention; can do any modification and variation in the details that reaches of implementing in form; but scope of patent protection of the present invention still must be as the criterion with the scope that appending claims was defined.

Claims (16)

1. the control method for coordinating of Mixed Zone, a Heavenly Stems and Earthly Branches road comprises:

Partiting step is divided into a plurality of subareas with Mixed Zone, described Heavenly Stems and Earthly Branches road;

The first determining step, for each subarea, based on the amount of moving between the intersection of ideals prong that obtains inner actual crossing, this subarea under each intersection of ideals prong spacing condition in a plurality of intersection of ideals prong spacings that set and set, determine the optimum phase difference of inner each crossing of optimal period and this subarea in this subarea based on these amounts of moving;

The second determining step, for each crossing in each subarea, current each phase place saturation degree based on this crossing, calculate next cycle and use the expectation of the crossing after each scheme saturation degree in default a plurality of split schemes, the crossing that value is minimum estimates that the corresponding split scheme of saturation degree is defined as the Optimal green signal ratio scheme of this crossing

Wherein, described split scheme accounts for the ratio value of signal period length for each phase place green time.

2. control method for coordinating according to claim 1 is characterized in that, in described the first determining step, further comprises:

S21 sets a plurality of intersection of ideals prong distance values;

S22, under each intersection of ideals prong spacing condition, calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing, then, the resulting amount of moving is sequentially sorted according to setting, and each the adjacent amount of moving after the calculating ordering is poor;

S23, the amount of the moving difference of selective value maximum from the difference of each adjacent amount of moving of obtaining for all intersection of ideals prong spacings, the intersection of ideals prong spacing that this amount of moving difference is corresponding is defined as the best intersection of ideals prong spacing in this subarea;

S24 obtains the optimal period in this subarea based on described best intersection of ideals prong spacing;

S25, according to described best intersection of ideals prong spacing and the maximum amount of moving difference, determine and to having the crossing of maximum offset between should the intersection of ideals prong of best intersection of ideals prong spacing, then obtain the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings according to this crossing and described maximum offset, and determine that the sequence number of the intersection of ideals prong of other crossings skews is odd number or even number;

S26 sets respectively the coordination mode of corresponding odd number intersection of ideals prong and corresponding even number intersection of ideals prong, and determines the optimum phase difference of inner each crossing, this subarea according to coordination mode.

3. control method for coordinating according to claim 2 is characterized in that, utilizes following formula to set a plurality of intersection of ideals prong spacing m _μ:

$m_{\mathrm{\&mu;}}=\frac{{\mathrm{vc}}_{\mathrm{\&beta;}}}{2}-10+\mathrm{\&mu;}$

Wherein, c _βIn the initial period that represents this subarea, v represents the average overall travel speed of vehicle in the arterial highway, and the μ value is the integer of [1,21].

4. control method for coordinating according to claim 2 is characterized in that, under each intersection of ideals prong spacing condition, utilizes following formula to calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing:

${\mathrm{\&Delta;\&alpha;}}_{m_{\mathrm{\&mu;}},\mathrm{\&zeta;}}=\left\{\begin{array}{cc}0& (\mathrm{\&zeta;}=1)\\ f(s,m_{\mathrm{\&mu;}},\mathrm{\&zeta;})& (\mathrm{\&zeta;}=2,3...u)\end{array}\right.$

$0\&le;f(s,m_{\mathrm{\&mu;}},\mathrm{\&zeta;})=\underset{1}{\overset{\mathrm{\&zeta;}-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{\&mu;}}<m_{\mathrm{\&mu;}}(k\&Element;[0,u\left]\right)$

Wherein, Expression is for intersection of ideals prong spacing m _μ, the crossing sequence number is the amount of moving of ζ, u represents the crossing number, s represents the set of all crossing spacings, by s ₁, s ₂... S _αForm.

5. control method for coordinating according to claim 3 is characterized in that, will try to achieve the amount of moving of 21 nearest intersection of ideals prongs in each crossing under the intersection of ideals prong distance values, and arrangement obtains moving moment matrix Δ α _{21 * u}:

${\mathrm{\&Delta;\&alpha;}}_{21\&times;u}=\left[\begin{array}{cccc}{\mathrm{\&Delta;\&alpha;}}_{m_1,1}& {\mathrm{\&Delta;\&alpha;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_1,u}\\ {\mathrm{\&Delta;\&alpha;}}_{m_2,1}& {\mathrm{\&Delta;\&alpha;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_2,u}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&Delta;\&alpha;}}_{m_{21},1}& {\mathrm{\&Delta;\&alpha;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&alpha;}}_{m_{21},u}\end{array}\right]$

Then, will move moment matrix Δ α _{21 * u}In value in every delegation arrange from small to large ord and obtain matrix β _{21 * u}:

${\mathrm{\&beta;}}_{21\&times;u}=\left[\begin{array}{cccc}{\mathrm{\&beta;}}_{m_1,1}& {\mathrm{\&beta;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_1,u}\\ {\mathrm{\&beta;}}_{m_2,1}& {\mathrm{\&beta;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_2,u}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&beta;}}_{m_{21},1}& {\mathrm{\&beta;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&beta;}}_{m_{21},u}\end{array}\right]$

Then with matrix β _{21 * u}Adjacent two numbers of every delegation are subtracted each other, and obtain the amount of moving matrix of differences Δ β _{21 * (u-1)}:

$\mathrm{\&Delta;}{\mathrm{\&beta;}}_{21\&times;(u-1)}=\left[\begin{array}{cccc}{\mathrm{\&Delta;\&beta;}}_{m_1,1}& {\mathrm{\&Delta;\&beta;}}_{m_1,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_1,u-1}\\ {\mathrm{\&Delta;\&beta;}}_{m_2,1}& {\mathrm{\&Delta;\&beta;}}_{m_2,2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_2,u-1}\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & \&CenterDot;\\ {\mathrm{\&Delta;\&beta;}}_{m_{21},1}& {\mathrm{\&Delta;\&beta;}}_{m_{21},2}& \&CenterDot;\&CenterDot;\&CenterDot;& {\mathrm{\&Delta;\&beta;}}_{m_{21},u-1}\end{array}\right]$

6. control method for coordinating according to claim 5 is characterized in that, at first finds out the described amount of moving matrix of differences Δ β _{21 * (u-1)}Middle maximal value Δ β _Max=Δ β _{Mopt, ζ}, Δ β _MaxThe spacing of corresponding intersection of ideals prong is m _Opt, then utilize following formula to calculate maximum offset δ:

$\mathrm{\&delta;}=\frac{m_{\mathrm{opt}}-{\mathrm{\&Delta;\&beta;}}_{\max }}{2}$

Wherein, m _OptRepresent best intersection of ideals prong spacing, Δ β _MaxThe expression maximum amount of moving.

7. control method for coordinating according to claim 2 is characterized in that, utilizes following formula to calculate the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings among the S25:

$f(\mathrm{\&delta;},m_{\mathrm{opt}},s,\mathrm{\&zeta;},\mathrm{\&lambda;})=$

$\left\{\begin{array}{cc}k\&Element;[0,u]|\min \left(\right|\underset{k}{\overset{\mathrm{\&lambda;}-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{opt}}+\mathrm{\&delta;}\left|\right)& (\mathrm{\&zeta;}<\mathrm{\&lambda;})\\ k\&Element;[0,u]|\min \left(\right|\underset{\mathrm{\&lambda;}}{\overset{k-1}{\mathrm{\&Sigma;}}}{s}_{\mathrm{\&alpha;}}-k\&times;m_{\mathrm{opt}}-\mathrm{\&delta;}\left|\right)& (\mathrm{\&zeta;}>\mathrm{\&lambda;})\end{array}\right.$

Wherein, l _ζRepresent the side-play amount of actual crossing and intersection of ideals prong, δ represents maximum offset, and λ represents and corresponding best intersection of ideals prong spacing m _OptThe intersection of ideals prong between have the crossing sequence number of maximum offset δ, u represents the crossing number, s represents the set of all crossing spacings, by s ₁, s ₂... s _αForm t _ζExpression crossing odd even identifier.

8. each described control method for coordinating in 7 according to claim 1 is characterized in that, in described the second determining step, further comprises:

S31, according to current period constantly the saturation degree of each phase place of this crossing and current period constantly the employed split scheme in this crossing calculate the expectation saturation degree that next cycle uses each phase place of each scheme in default a plurality of split schemes constantly;

S32 uses each phase place of each scheme in default a plurality of split schemes to estimate saturation degree based on next cycle constantly, calculates next cycle constantly to use in default a plurality of split schemes the crossing after each scheme to estimate saturation degree;

S33, the crossing of each scheme that obtains from step S32 estimates the saturation degree, saturation degree is estimated in the minimum crossing of the value of selecting, and will adopt the scheme of this value correspondence to be defined as the Optimal green signal ratio scheme of this crossing.

9. control method for coordinating according to claim 8 is characterized in that, utilizes following formula to calculate the expectation saturation degree of each phase place of each scheme among the S31:

$d_{i,k,j}^{t+1}=d_{i,j}^t\&times;\frac{a_j}{a_{k,j}}(k=\mathrm{1,2},...N)$

Wherein, t represents current period constantly, and t+1 represents next cycle constantly,

Representing next cycle of this crossing adopts k sets of plan j phase place to estimate saturation degree,

Represent the saturation degree of current this crossing phase place j, a _jRepresent the split of phase place j in the current split scheme, a _K.jRepresent the split of phase place j in the k sets of plan.

10. control method for coordinating according to claim 8 is characterized in that, utilizes following formula to calculate the crossing expectation saturation degree after each scheme of use among the S32:

$d_k^{\max }=\{j\&Element;(1,{\mathrm{\&tau;}}_i)|\max \left(d_{i,k,j}^{t+1}\right)\}$

Wherein,

Represent this crossing and adopt expectation saturation degree after k overlaps green scheme, j represents phase item, τ _iRepresent total number of phases of this crossing,

Representing next cycle of this crossing adopts k sets of plan j phase place to estimate saturation degree constantly.

11. control method for coordinating according to claim 1 is characterized in that, in described partiting step, further comprises:

S11, each arterial highway is divided in advance a subarea with all crossings on each arterial highway, and then Mixed Zone, described Heavenly Stems and Earthly Branches road is divided into a plurality of subareas in advance as benchmark in the Mixed Zone, described Heavenly Stems and Earthly Branches road;

S12 merged and deconsolidation process ready-portioned subarea based on initial period in each subarea.

12. control method for coordinating according to claim 11 is characterized in that, in the S12 step, further comprises:

Calculate the initial period in each subarea;

Calculate each subarea initial period difference each other, if the initial period difference less than setting value, then will be merged into a new subarea about two subareas of this cycle difference; If the initial period difference between two subareas after merging is greater than described setting value, then in these two subareas each is split go back to two original subareas.

13. the coordinated control system of Mixed Zone, a Heavenly Stems and Earthly Branches road comprises:

Divide module, it is divided into a plurality of subareas with Mixed Zone, described Heavenly Stems and Earthly Branches road;

The first determination module, it is for each subarea, based on the amount of moving between the intersection of ideals prong that obtains inner actual crossing, this subarea under each desired pitch condition in a plurality of desired pitch that set and set, determine the optimum phase difference of inner each crossing of optimal period and this subarea in this subarea based on these amounts of moving;

The second determination module, it is for each crossing in each subarea, current each phase place saturation degree based on this crossing, calculate next cycle and use the expectation of the crossing after each scheme saturation degree in default a plurality of split schemes, the crossing that value is minimum estimates that the corresponding split scheme of saturation degree is defined as the Optimal green signal ratio scheme of this crossing

Wherein, described split scheme accounts for the ratio value of signal period length for each phase place green time.

14. coordinated control system according to claim 13 is characterized in that, in described the first determination module, further comprises:

Setup unit, it sets a plurality of intersection of ideals prong spacings;

The amount of moving is calculated sequencing unit, it is under each intersection of ideals prong spacing condition, calculate the amount of moving of each crossing and the intersection of ideals prong that obtains based on this intersection of ideals prong spacing, then, the resulting amount of moving is sequentially sorted according to setting, and each the adjacent amount of moving after the calculating ordering is poor;

The desired pitch determining unit, the amount of the moving difference of its selective value maximum from the difference of each adjacent amount of moving of obtaining for all intersection of ideals prong spacings, the intersection of ideals prong spacing that this amount of moving difference is corresponding is defined as the best intersection of ideals prong spacing in this subarea;

The optimal period determining unit, it obtains the optimal period in this subarea based on described best intersection of ideals prong spacing;

The side-play amount computing unit, it is according to described best intersection of ideals prong spacing and the maximum amount of moving difference, determine and to having the crossing of maximum offset between should the intersection of ideals prong of best intersection of ideals prong spacing, then obtain the side-play amount of other crossings and the intersection of ideals prong of corresponding other crossings according to this crossing and described maximum offset, and determine that the sequence number of the intersection of ideals prong of other crossings skews is odd number or even number;

The optimum phase difference determining unit, it sets respectively the coordination mode of corresponding odd number intersection of ideals prong and corresponding even number intersection of ideals prong, and determines the optimum phase difference of inner each crossing, this subarea according to coordination mode.

15. coordinated control system according to claim 13 is characterized in that, in described the second determination module, further comprises:

Phase place saturation computation unit, its according to current period constantly the saturation degree of each phase place of this crossing and current period constantly the employed split scheme in this crossing calculate the expectation saturation degree that next cycle uses each phase place of each scheme in default a plurality of split schemes constantly;

The intersection saturation degree computing unit, it uses each phase place of each scheme in default a plurality of split schemes to estimate saturation degree based on next cycle constantly, calculates next cycle constantly to use in default a plurality of split schemes the crossing after each scheme to estimate saturation degree;

Preferred plan determining unit, its crossing from each scheme of obtaining estimate the saturation degree, and saturation degree is estimated in the minimum crossing of the value of selecting, and will adopt the scheme of this value correspondence to be defined as the Optimal green signal ratio scheme of this crossing.

16. coordinated control system according to claim 13 is characterized in that, in described division module, further comprises:

Division unit in advance, its each arterial highway in the Mixed Zone, described Heavenly Stems and Earthly Branches road is divided in advance a subarea with all crossings on each arterial highway, and then Mixed Zone, described Heavenly Stems and Earthly Branches road is divided into a plurality of subareas in advance as benchmark;

The subarea processing unit, its initial period based on each subarea merges and deconsolidation process ready-portioned subarea.

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