CN104077918B - Based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method - Google Patents
Based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method Download PDFInfo
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Abstract
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, based on vehicle-mounted data, the signal lights of intersection can be carried out Self Adaptive Control for unsaturated state and the hypersaturated state of front upstream, crossing road at least intersection intersected, have steps of: step one is to read the geometry of intersection, number of track-lines and lane function；According to vehicle-mounted data, step 2 is for judge that crossing is unsaturation state or hypersaturated state；And step 3 for using unsaturation state optimization method when being judged as unsaturation shape, uses hypersaturated state optimization method when being judged as hypersaturated state.
Description
Technical field
The present invention relates to urban highway traffic belisha beacon control field, especially relate in this field for
The unsaturated state of the road of intersection and hypersaturated state are based on the vehicle-mounted data signal lights to intersection
Carry out Self Adaptive Control based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method.
Background technology
Urban traffic blocking is increasingly severe, and the big city more than domestic million people of China is gathered around due to traffic every year
The stifled direct indirect economic loss caused is roughly equal to 160,000,000,000 yuan, is equivalent to the 3.2% of GDP.Hand over
Logical control as the most intuitively regulating and controlling traffic flow significantly, improve its obstruction, improve its safety or even energy-conservation subtract
One of particularly important technical measures of row, the Self Adaptive Control of urban road junction is according to collecting
Traffic state data, optimizing control models, the most automatically adjust signal and control parameter, in theory can
Enough set up optimum signal timing dial, it is possible to adapt to the consecutive variations of traffic flow modes, be practicality the most by force,
Advanced a kind of control mode.
At present, intersection self-adapting traffic signal control system mainly have SCOOT, SCATS, OPAC and
RHODES etc., the input data of these control systems rely primarily on vehicle coil checker, and Bikowitz,
The research of E W, Ross (1985) etc. thinks that the fault rate any instant of loop wire induction coil is up to 25%, i.e.
Making best maintenance safeguard, also there is fault rate (Lawrence A.Klein, the Milton K. of 11.7% whole year
Mills, David R.P.Gibson, 2006), these data of China are up to 30%, are more particularly in
The city of construction period, this ratio is the highest；Additionally, be limited by the position of wagon detector, Zhi Neng
Fixed location gathers data on flows, and carries out short-term Traffic Demand Forecasting, there is prediction and estimates that essence is by mistake
Difference；It is entered into again in correlation theory model and obtains timing scheme, and then exported by relevant evaluation model
Corresponding evaluation index, the foundation optimized in this, as traffic control strategy.The i.e. generation of control program and excellent
Changing and be all based on model, improving effect assessment for signal timing dial is also based on model.Traffic model is often
Itself due to time, region, interference source various reasons, not the most applicable at all occasions, its suitability and
Limited reliability；I.e. allow to be suitable for, a series of loaded down with trivial details mistakes such as parameter calibration correction that there is also model
Journey, and the demarcation of parameter itself can be sayed without fixing method, completely by traffic engineer experience, through this
A little optimization order signal timing dials out are extremely difficult to the expectation of traveler, it is impossible to accomplish that real self adaptation is handed over
Messenger controls.
In existing bus or train route coordination system: 1. the traffic information collection mode of system is progressively big by extensive government
Scale infrastructure investment (detection coil, monitoring device, identifier marking are buried underground) transfers to the most intensive
Distributing traffic information collection based on board units, traffic data information acquisition system is built and maintenance cost
It is substantially reduced, is conducive to large-scale popularization and enforcement；2. can be collected accurately by bus or train route communication
Vehicle operation data (vehicle location, speed, turn to, acceleration-deceleration etc.), it is possible to the most pre-test cross
The real-time traffic demand of cross road mouth and various emergency case, make the real realization of the Self Adaptive Control of signal timing dial
It is possibly realized；3. make traffic participant, the vehicles, means of transportation and friendship by car car, bus or train route communication
Can give between logical environment and organically combine, strengthen contacting between vehicle by truck traffic, it is possible to shorten driver anti-
Between Ying Shi, decrease spaces of vehicles, can be given on-vehicle information prompting (face a difficult choice district, make a dash across the red light, turn left non-
Control, main road are given way, the prompting such as motor vehicles right-hand rotation), improve traffic safety while, shorten green light loss
Time, being effectively improved the efficiency that signal controls, 4. system data acquisition granularity, being greatly improved of precision, make
Traffic signalization and wagon control, the integration of traffic guidance are also possibly realized (broad sense traffic control), money
Deep scholar Michael G.H.Bell is at the article being published in Transport Research Part A
" Future directions in traffic signal control " points out, relies solely on traffic letter
Number itself can not solve the most serious traffic jam issue, integrated and whole with vehicle traveling information
Close the inexorable trend that will be traffic control development.
On the other hand, the development of bus or train route cooperative system has promoted the acquisition mode making transport information from traditional quiet
State gathers, and such as sensing detection coil, radar, infrared ray etc., progressively carries data acquisition to dynamic full-time empty wagons
Mode set develops, and develops into vehicle from the detection of the traffic parameters such as traditional vehicle flowrate, occupation rate and travels speed
Degree, GPS location, turn to, the dynamic acquisition of the vehicle-mounted data such as acceleration-deceleration, it is possible to the most pre-test cross
The real-time traffic demand of cross road mouth and various emergency case, make the real realization of the Self Adaptive Control of signal timing dial
It is possibly realized.
The appearance of bus or train route cooperative system so that transport information is truly realized the line from time dimension when collecting
Between, the face of seamless coverage round-the-clock, comprehensive in the dimension of two, space gather, transport information will no longer become
Bottleneck for restriction traffic control development.Developing rapidly and advancing along with bus or train route cooperative system, it gathers number
According to precision, the various potential advantages such as coverage, the control effect of adaptive control algorithm will be greatly improved
Adaptability with optimizing control models.
Can be based on the road of vehicle-mounted data monitoring intersection but not currently exist a kind of effective method
Unsaturated state and hypersaturated state, and the signal lights of intersection is carried out Self Adaptive Control.
Summary of the invention
It is an object of the invention to provide the unsaturation shape of a kind of road based on vehicle-mounted data monitoring intersection
State and hypersaturated state the signal lights to intersection carry out handing over based on vehicle-mounted data city of Self Adaptive Control
Logical belisha beacon self-adaptation control method.
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, energy
Reach unsaturated state and the supersaturation shape of front upstream, crossing road in the intersection at least intersection
State carries out Self Adaptive Control based on vehicle-mounted data to the signal lights of intersection, has steps of: step one
For reading the geometry of intersection, number of track-lines and lane function；Step 2 is to judge according to vehicle-mounted data
Crossing is unsaturation state or hypersaturated state；And step 3 do not satisfies for using when being judged as unsaturation shape
With state optimization method, use hypersaturated state optimization method when being judged as hypersaturated state, wherein, not
Saturation optimization method, has steps of: step 1-a is for according to geometry, number of track-lines and track
Function determines the Phase-switching order of intersection and makes Phase-switching precedence diagram, and this figure comprises each of crossing
Individual phase directional, formulates signal lights according to phase directional and is arranged at all directions of intersection；Step 1-b
In order to arrange out the phase conflicts table of (N+2) × (N+2) according to Phase-switching precedence diagram, (N is phase directional
Quantity), this table is horizontally and vertically each phase directional, the position that each phase directional is corresponding two-by-two is arranged
A plurality of conflict is had to indicate and a plurality of signs of not conflicting；Step 1-c is same for will be located according to vehicle-mounted data
In track, the vehicle of holding preset distance adjacent one another are is divided into fleet, when the adding of front vehicle being positioned at fleet
Speed is less than distance less than the distance between the trailer in negative acceleration threshold value and this front vehicle and fleet
Then it is judged as during threshold value adding in fleet, when the acceleration of the front vehicles being positioned at fleet is big by this front vehicle
The distance between head car in acceleration rate threshold and this front vehicles and fleet judges less than during distance threshold
For this front vehicles is added in fleet, right overhead the acceleration of car more than acceleration rate threshold and with this car after
It is judged as when distance between one car is more than distance threshold that this car departs from fleet, when the acceleration of trailer is little
In negative acceleration threshold value and and previous car of this trailer between distance more than distance threshold time be judged as this
Trailer departs from fleet；And step 1-d carries out Phase-switching for converting signal lights after determining fleet's situation, refer to
Draw fleet and pass through intersection, hypersaturated state optimization method, have steps of: step 2-a is real-time
The residue queue length in track is swum out of under after monitoring the crossing of each phase directional；And according to step 2-b
The green light that residue queue length controls to associate with this phase directional in intersection in real time cuts off ahead of time or postpones to open
Open.
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, also
Have a feature in that wherein, the Phase-switching in step 1-d, have steps of: step 3-a is
Calculate all of all red light phase directionals that in intersection, current green light phase directional can be let pass after terminating
The cumulative latency of the waiting time superimposed gained waiting vehicle in track, when vehicle cumulative latency
Green light request is sent, when vehicle cumulative latency is less than in advance during more than waiting time threshold value set in advance
Current green light phase directional is continued to run with during the waiting time threshold value set；Step 3-b is for emptying current green light
The residual queuing vehicle in fleet on the track, front upstream, crossing of phase directional, in fleet being detected arbitrarily
In the case of the speed of vehicle is less than predetermined speed threshold value, and when green time is maximum less than predetermined green light
The long green time of threshold delay until the trailer of fleet pass through after according to Phase-switching precedence diagram and phase conflicts table
Switching phse conversion signal lights, forces switching phase place side when green time is more than predetermined green light max-thresholds
To, in the case of being not detected by the speed vehicle less than predetermined speed threshold value, enter next step；Step
3-c is for as green extension Δ t, Δ t=dl/vl(wherein, dlFor the distance between trailer and intersection, vl
Speed for trailer), when terminating or arrive green light max-thresholds, rush according to Phase-switching precedence diagram and phase place
Prominent table carries out Phase-switching.
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, also
Having a feature in that wherein, cutting off step ahead of time is ought to monitor remaining of current green light phase directional in real time
Remaining queue length cuts off green light, ahead of time if this phase directional is green when being less than predetermined residue queue length threshold value
When lamp remaining time is less than predetermined green light remaining time, then wait that green light max-thresholds converts letter after completing again
Signal lamp carries out Phase-switching.
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, also
Having a feature in that wherein, postponing to open step is ought to monitor remaining of current red light phase directional in real time
Remaining queue length opens green light late less than predetermined residue queue length threshold delay.
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, also
Having a feature in that wherein, road intersection coordinates step for being used for ensureing that the green light opening time is the greenest
Lamp maximum time.
The one that the present invention provides is based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, also
Having a feature in that wherein, cutting off step ahead of time is ought to monitor remaining of current green light phase directional in real time
Remaining queue length cuts off green light, ahead of time if this phase directional is green when being less than predetermined residue queue length threshold value
When lamp remaining time is less than predetermined green light remaining time, then wait that green light max-thresholds converts letter after completing again
Signal lamp carries out Phase-switching, and postponing to open step is ought to monitor the residue row of current red light phase directional in real time
Team leader's degree opens green light late less than predetermined residue queue length threshold delay, and road intersection coordinates step for using
In ensureing that the green light opening time is not more than green light maximum time, cut off step the most ahead of time, postpone to open step
With road intersection coordinate in step any one and cut off step ahead of time, postpone to open step and phase dealings
Road coordinates at least arbitrarily to be mutually combined two-by-two in step.
Invention effect and effect
According to one involved in the present invention based on signal lights Self Adaptive Control side, vehicle-mounted data urban traffic intersection
Method, reads the geometry of intersection, number of track-lines and lane function, judges that crossing is according to vehicle-mounted data
Unsaturation state or hypersaturated state, use unsaturation state optimization method when being judged as unsaturation shape, when
Being judged as during hypersaturated state using hypersaturated state optimization method, unsaturation state optimization method is handed over for calculating
When all phase place red lights that cross road mouth this phase place subsequent time can be let pass flow to the accumulative wait of one-lane vehicle
Between, control the foundation of Phase-switching in this, as crossroad signal, the vehicle on same track is carried out car
Team divides and empties green light afterbody and queues up, and converts signal lights and carries out Phase-switching, guide after determining fleet's situation
Fleet passes through intersection, hypersaturated state optimization method be behind the crossing monitoring each phase directional in real time under
Swim out of the residue queue length in track, according to residue queue length control in real time in intersection with this phase place side
Cut off ahead of time to the green light of association or postpone to open.Reduce so that vehicle is delayed, improve intersection
Operational efficiency and safety.
Accompanying drawing explanation
Fig. 1 is present invention monitoring schematic flow sheet in an embodiment；
Fig. 2 is the vehicle carried data collecting table in the present embodiment；
Fig. 3 is that intersection self-adaptation control method phase place is cut under the conditions of present invention unsaturation in an embodiment
Change precedence diagram；
Fig. 4 is that intersection self-adaptation control method phase place is cut under the conditions of present invention unsaturation in an embodiment
Change precedence diagram；
Fig. 5 is intersection self-adaptation control method phase place punching under the conditions of present invention unsaturation in an embodiment
Prominent table；
Fig. 6 is the fleet's division methods flow chart in the present embodiment；
Fig. 7 is the Phase-switching flow chart in the present embodiment；
Fig. 8 is that under the supersaturated condition in the present embodiment, self-adaptation control method green time in intersection controls
Flow chart；
Fig. 9 is the hypersaturated state running figure in the present embodiment；And
Figure 10 is that the control program of five kinds of combinational algorithms in the present embodiment and present situation is analyzed figure.
Detailed description of the invention
Referring to the drawings with embodiment to involved in the present invention based on vehicle-mounted data urban traffic intersection signal
Lamp self-adaptation control method is explained in detail.
Embodiment
Fig. 1 is present invention monitoring schematic flow sheet in an embodiment.
Step S1-1:
System initialization, enters step S1-2.
Step S1-2:
Read the geometry of intersection, number of track-lines and lane function situation, enter step S1-3.
Step S1-3:
Determine the control structure of intersection, enter step S1-4.
Step S1-4:
Judge the track whether saturation of intersection, if unsaturated state, then enter step S1-5；
If hypersaturated state, then enter step S1-8.
Step S1-5:
Determining that phase directional order makes Phase-switching precedence diagram, this figure comprises each phase directional at crossing,
Formulate signal lights according to phase directional and be arranged at all directions of intersection, according to Phase-switching precedence diagram
The phase conflicts table of 10 × 10 is set out, this table is horizontally and vertically 8 phase directionals, 8 phase place sides
Being provided with to position corresponding two-by-two conflicts indicates and does not conflict sign, and wherein 1 represents that conflict, 0 expression are not rushed
Prominent, as conflict coefficient, enter step S1-6.
Step S1-6:
In will be located in same track according to vehicle-mounted data, the vehicle of holding preset distance adjacent one another are is divided into fleet,
When the acceleration of the front vehicle being positioned at fleet is less than-0.5 meter of every quadratic power second and this front vehicle and fleet
In trailer between distance less than 3 meters time be then judged as adding in fleet, when being positioned at car this front vehicle
The acceleration of the front vehicles of team is more than the head car in 0.5 meter of every quadratic power second and this front vehicles and fleet
Between distance less than 3 meters time be judged as adding in fleet this front vehicles, the acceleration of car is more than right overhead
0.5 meter of every quadratic power second and and this car after distance between a car more than 3 meters time be judged as this car
Depart from fleet, when trailer acceleration less than 0.5 meter of every quadratic power second and and previous car of this trailer between
Distance more than 3 meters time be judged as this trailer depart from fleet, enter step S1-7.
Convert signal lights after determining fleet's situation and carry out Phase-switching.
Step S1-8:
Swim out of the residue queue length in track under in real time behind the crossing of 8 phase directionals of monitoring, enter step
S1-9。
Step S1-9:
Cut off ahead of time according to the green light that residue queue length controls to associate with this phase directional in intersection in real time
Or postpone to open.
Fig. 2 is the vehicle carried data collecting table in the present embodiment.
As in figure 2 it is shown, the vehicle-mounted data collected from each car includes simulation time, car number, vehicle
Position, Link numbering, Lane numbering, turn signal state, coordinate, speed, acceleration, next Link
Numbering.
Fig. 3 is that intersection self-adaptation control method phase place is cut under the conditions of present invention unsaturation in an embodiment
Change precedence diagram.
As it is shown on figure 3, it is each in the Phase-switching precedence diagram identical with the signal lights that crossing all directions are arranged
Arrow represents the phase directional of correspondence, and double vertical lines represent the phase barrier that isolation can not be mutually lapped, all phases
Position is assigned to upper and lower two rings, and in a phase barrier, two phase directionals in same ring can be free
Conversion；And when the switching of phase directional needs to cross over phase barrier, then need to wait for other phase directionals and all arrive
Reach the phase switch point crossing over phase barrier.This structure is under the premise that security is guaranteed, it is achieved that non conflicting
Overlap joint between traffic flow, it is possible to farthest play the operational efficiency of intersection, than traditional phase place
Phase sequence structure has more motility, is more suitable for intersection real-time adaptive control implementation of strategies.
Fig. 4 is that intersection self-adaptation control method phase place is cut under the conditions of present invention unsaturation in an embodiment
Change precedence diagram.
As shown in Figure 4, each feasible phase directional during arrow represents right-angled intersection.
In conjunction with Fig. 3 and Fig. 4,8 phases of intersection in the corresponding diagram 4 respectively of 8 phase directionals in Fig. 3
Direction, position.
Fig. 5 is intersection self-adaptation control method phase place punching under the conditions of present invention unsaturation in an embodiment
Prominent table.
As it is shown in figure 5, the phase directional that each phase directional may perform after terminating includes this phase directional,
And possible conflict phase directional.(four, the four corners of the world is controlled with the intersection eight-phase of Fig. 2 standard
Keep straight in direction and left-hand rotation arranges independent phase place) as a example by, construct corresponding phase conflicts table.In table, 1 represents punching
Prominent, 0 representative does not conflicts.As need not certain phase place, can carry out deleting adjustment according to following table.For deformity
Intersection or the intersection more than eight phase places, can build leggy barrier according to described above
Double-loop control structure.
Fig. 6 is the fleet's division methods flow chart in the present embodiment.
In will be located in same track according to vehicle-mounted data, the vehicle of holding preset distance adjacent one another are is by following step
Suddenly carry out being divided into a fleet.
Step 2-1:
Judging whether Current vehicle belongs to this fleet, if being not belonging to this fleet, then entering step S2-2；If belonging to
In this fleet, then enter step S2-6.
Step S2-2:
Judge that whether the acceleration of Current vehicle is more than 5 meters of every quadratic power seconds.If being more than, then enter step S2-3；
If being not more than, then enter step S2-4.
Step S2-3:
Judge that Current vehicle and leading vehicle distance, whether less than 3 meters, if being less than 3 meters, are then judged as front vehicle
Add fleet；If not less than 3 meters, then return step S2-2.
Step S2-4:
Judge that whether the acceleration of Current vehicle is less than-5 meters of every quadratic power seconds.If being less than, then enter step
S2-5；If being not less than, then return step S2-2.
Step S2-5:
Judge that Current vehicle and leading vehicle distance, whether less than 3 meters, if being less than 3 meters, are then judged as front vehicles
Add fleet；If not less than 3 meters, then return step S2-2.
Step S2-6:
Judge that whether the acceleration of Current vehicle is more than 5 meters of every quadratic power seconds.If being more than, then enter step S2-7；
If being not more than, then enter step S2-8.
Step S2-7:
Judge that Current vehicle and leading vehicle distance, whether more than 3 meters, if being more than 3 meters, are then judged as fleet's head car
Depart from fleet；If no more than 3 meters, then returning step S2-6.
Step S2-8:
Judge that whether the acceleration of Current vehicle is less than-5 meters of every quadratic power seconds.If being less than, then enter step
S2-9；If being not less than, then return step S2-6.
Step S2-9:
Judge that Current vehicle and leading vehicle distance, whether more than 3 meters, if being more than 3 meters, are then judged as fleet's trailer
Depart from fleet；If no more than 3 meters, then returning step S2-6.
Fig. 7 is the Phase-switching flow chart in the present embodiment.
Step S3-1:
Run current phase directional, enter step S3-2.
Step S3-2:
Calculate all red light phase directionals that in intersection, current green light phase directional can be let pass after terminating
The cumulative latency of the waiting time superimposed gained waiting vehicle in all tracks, waits when vehicle is accumulative
Green light request is sent, when vehicle cumulative latency is less than setting in advance when time was more than 120 seconds set in advance
Continue to run with current green light phase directional when fixed 120 seconds, enter step S3-3.
Step S3-3:
Vehicle cumulative latency is multiplied by conflict coefficient, enters step S3-4.
Step S3-4:
Judge that vehicle cumulative latency, whether more than 120 seconds, if more than 120 seconds, then enters step S3-5；
If no more than 120 seconds, then returning step S3-1.
Step S3-5:
Send phase directional handover request, enter step S3-6.
Step S3-6:
Judgement be the speed of remaining queuing vehicle less than 5 kilometers the most per hour, if being less than, then enter step
S3-7；If being not less than, then enter step S3-10.
Step S3-7:
Distinguish residual queuing tail of the queue vehicle, enter step S3-8.
Step S3-9:
Future time step-length, enters step S3-10.
Step S3-9:
Judging to remain whether queuing tail of the queue vehicle passes through intersection, if passing through, then entering step S3-10；If
Do not pass through, then return step S3-8.
Step S3-10:
Green light phase directional vehicle cluster and the crucial fleet of identification, enter step S3-11.
Step S3-11:
Determine green extension Δ t, Δ t=dl/vl(wherein, dlFor the distance between trailer and intersection,
Vl is the speed of trailer), enter step S3-12.
Step S3-12:
Judge whether green extension is 0 or whether arrives maximum green time, if 0 or arrive maximum
Green time, then enter step S3-13；If not 0 or do not arrive maximum green time, then return step
S3-12。
Step S3-13:
Judge to ask whether phase directional conflicts, switch phase place according to Phase-switching precedence diagram and phase conflicts table
Conversion signal lights, if not conflicting, then enters step S3-14；If conflict, then return step S3-1.
Step S3-14:
This inscription of loop completes, and enters second ring.
Owing to second ring and first inscription of loop step communicate, therefore omit the description.
Step S3-15:
Calculate the phase directional that in each ring, cumulative latency is maximum, enter step S3-16.
Step S3-16:
Switching green light is to corresponding phase directional simultaneously.
Fig. 8 is that under the supersaturated condition in the present embodiment, self-adaptation control method green time in intersection controls
Flow chart.
Step S4-1:
Start intersection off-line timing scheme, enter step S4-2.
Step S4-2:
Keep phase switch point and the split of original scheme, enter step S4-3.
Step S4-3:
Judge track, downstream whether green light, if green light, then enter step S4-4, if not green light, then enter
Enter step S4-6.
Step S4-4:
Judge that this phase directional downstream track buffer, whether less than 30m, if being less than 30m, then enters step
S4-5；If not less than 30m, then enter step S4-6.
Step S4-5:
Green light postpones to open 1 second.
Step S4-6:
Whether opening road intersection to coordinate, if opening, then entering step S4-7；If being not turned on, then enter step
Rapid S4-9.
Step S4-7:
Judging in former scheme, whether this phase directional green time terminates, if terminating, then road intersection has been coordinated
Become；If not terminating, then enter step S4-8.
Step S4-8:
Continue to run with this phase directional, return step S4-7.
Step S4-9:
Judge that this phase directional downstream track buffer, whether less than 30m, if being less than 30m, then enters step
S4-10；If not less than 30m, then enter step S4-12.
Step S4-10:
Judge that this phase directional green time, whether less than 5s, if not less than 5s, then enters step S4-11；
If less than 5s, then enter step S4-12.
Step S4-11:
Green light early cut-off.
Step S4-12:
This phase directional continues to run with 1s, enters step S4-13.
Step S4-13:
Judging that this phase directional arrives maximum green time, if arriving, then step terminates；If not arriving, then
Return step S4-9.
Fig. 9 is the hypersaturated state running figure in the present embodiment.
As it is shown in figure 9, postpone to open and phase dealings by the cut-out ahead of time of three kinds of basic controlling algorithm green lights, green light
Road coordinates to be combined, and has following five kinds of combined situation.Wherein arrow represents that this phase place there occurs change, black
Color solid line represents that this phase place startup/end time does not change, and oblique line portion represents red light, blank parts
Represent green light.For simplifying research, this example is two phase place, i.e. main road green light, or road intersection green light,
Vice versa.Additionally, Fig. 9 have ignored the yellow time of transition between phase place.Five kinds of combinational algorithms describe
As follows:
1. green light postpones to open (GSD).Supersaturation situation according to downstream road increases the green of this phase directional
The lamp opening time, and the long green light time of this phase directional keeps constant.
2. green light postpones unlatching+green light early cut-off (GSD+GCA).If lower exit is empty without enough queuings
Between, phase contrast each cycle of this phase place increases a bit, and the green time of this phase place also shortens (the most all simultaneously
Phase affects).
3. green light postpones unlatching+road intersection and coordinates (GSD+COR).The phase contrast of this phase place is only within a week
Increasing, green time shortens, so that the phase place of road intersection starts the time unaffected (monocycle impact).
Next cycle is still run by scheme set in advance, unless there is again the situation of this phase place green light delay start.
If downstream does not has enough buffers, the green time of this phase place will be skipped.
4. green light early cut-off (GCA).The phase contrast of this phase place does not adjusts.Green light rises bright on time, according to
Practical situation interrupts in advance.The unnecessary time distributes to road intersection.
5. green light postpones unlatching+green light early cut-off+road intersection and coordinates (GCA+GSD+COR).The second feelings
Condition and the combination of the third situation, phase place green time takes green light to postpone to open (GSD) and road intersection coordination
(COR) moment the earliest in.
Figure 10 is that the control program of five kinds of combinational algorithms in the present embodiment and present situation is analyzed figure.
As shown in Figure 10, Vissim emulation is used, by example, to above-mentioned five kinds of combinational algorithms and present situation
Control program be analyzed.Generally speaking, the traffic capacity all decreases, this and supersaturated condition
The way of lower restriction transport need is perfectly in harmony；Spacing is delayed and stop frequency makes moderate progress.Wherein, green light
The improvement that early cut-off (GCA) controls benefit for intersection is the most obvious, itself and green light delay start, phase
The combination (GCA+GSD+COR) that dealings road is coordinated not improvement to intersection benefit is significantly increased, and
It is used alone green light delay start (GSD) and even can bring the deterioration of intersection benefit, itself and road intersection
The control benefit of intersection is made moderate progress by the combination (GSD+COR) coordinated, but green light is not cut in advance
Disconnected (GCA) and three kinds of combination (GCA+GSD+COR) effects thereof are obvious.Therefore we may safely draw the conclusion:
Under urban road junction supersaturated condition, it is recommended that initially with green light Pre-handoff, again consider its with
Other combining form.
The effect of embodiment and effect
According to one involved in the present invention based on signal lights Self Adaptive Control side, vehicle-mounted data urban traffic intersection
Method, reads the geometry of intersection, number of track-lines and lane function, judges that crossing is according to vehicle-mounted data
Unsaturation state or hypersaturated state, use unsaturation state optimization method when being judged as unsaturation shape, when
Judging to use hypersaturated state optimization method during hypersaturated state, unsaturation state optimization method is intersected for calculating
When all phase place red lights that crossing this phase place subsequent time can be let pass flow to the accumulative wait of one-lane vehicle
Between, control the foundation of Phase-switching in this, as crossroad signal, the vehicle on same track is carried out car
Team divides and empties green light afterbody and queues up, and converts signal lights and carries out Phase-switching, guide after determining fleet's situation
Fleet passes through intersection, hypersaturated state optimization method be behind the crossing monitoring each phase directional in real time under
Swim out of the residue queue length in track, according to residue queue length control in real time in intersection with this phase place side
Cut off ahead of time to the green light of association or postpone to open.Reduce so that vehicle is delayed, improve intersection
Operational efficiency and safety.
Above-described embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (6)
1. one kind based on vehicle-mounted data urban traffic intersection signal lights self-adaptation control method, it is possible to pin
To the unsaturation state of front upstream, crossing road and supersaturation shape at least intersection intersected
State carries out Self Adaptive Control based on vehicle-mounted data to the described signal lights of described intersection, has following
Step:
Step one, reads the geometry of described intersection, number of track-lines and lane function；
According to described vehicle-mounted data, step 2, judges that described crossing is described unsaturation state or described mistake
Saturation；And
Step 3, uses unsaturation state optimization method, works as judgement when being judged as described unsaturation shape
For using hypersaturated state optimization method during described hypersaturated state,
Wherein, described unsaturation state optimization method, have steps of:
Step 1-a:
Described intersection is determined according to described geometry, described number of track-lines and described lane function
Phase-switching order also makes Phase-switching precedence diagram, and this figure comprises each phase directional at described crossing,
Formulate described signal lights according to described phase directional and be arranged at all directions of described intersection；
Step 1-b:
The phase conflicts table of (N+2) × (N+2) is set out according to described Phase-switching precedence diagram, its
In, N is the quantity of described phase directional, is horizontally and vertically each described phase directional in this table,
The position that each described phase directional is corresponding two-by-two is provided with a plurality of conflict sign and does not conflicts with a plurality of
Indicate；
Step 1-c:
In will be located in same track according to described vehicle-mounted data, the vehicle of holding preset distance adjacent one another are is drawn
Be divided into fleet, when be positioned at the acceleration of front vehicle of described fleet less than negative acceleration threshold value and
Then it is judged as this when the distance between trailer in this front vehicle and described fleet is less than distance threshold
Front vehicle adds in described fleet, accelerates when the acceleration of the front vehicles being positioned at described fleet is more than
Sentence when spending the distance between the head car in threshold value and this front vehicles and described fleet less than distance threshold
Break as this front vehicles is added in described fleet, when the acceleration of described head car is more than described acceleration
Threshold value and and this car after distance between a car more than described distance threshold time be judged as this car
Depart from described fleet, when described trailer acceleration less than described negative acceleration threshold value and with this tail
It is judged as when distance between one car of Herba Plantaginis is more than described distance threshold that this trailer departs from described fleet；
And
Step 1-d:
Convert signal lights after determining described fleet situation and carry out Phase-switching, guide described fleet to pass through institute
State intersection,
Described hypersaturated state optimization method, has steps of:
Step 2-a:
The residue queue length in track is swum out of under after monitoring the crossing of each described phase directional in real time；With
And
Step 2-b:
Control in real time described intersection associates with this phase directional according to described residue queue length
Green light cuts off ahead of time or postpones to open.
The most according to claim 1 based on vehicle-mounted data urban traffic intersection signal lights self adaptation
Control method, is further characterized in that:
Wherein, the described Phase-switching in described step 1-d, have steps of:
Step 3-a:
Calculate all red light phases that in described intersection, current green light phase directional can be let pass after terminating
The cumulative latency of the waiting time superimposed gained waiting vehicle in all tracks in direction, position, when
Green light request is sent when described vehicle cumulative latency is more than waiting time threshold value set in advance, when
Described vehicle cumulative latency less than waiting time threshold value set in advance time continue to run with described currently
Green light phase directional；
Step 3-b:
Empty in the described fleet on the track, front upstream, described crossing of described current green light phase directional
Residual queuing vehicle, in described fleet being detected, the speed of any vehicle is less than predetermined speed threshold value
In the case of, and it is straight to extend described green time when green time is less than predetermined green light max-thresholds
According to described Phase-switching precedence diagram and described phase conflicts table after passing through to the described trailer of described fleet
Switching phse conversion signal lights, forces when described green time is more than predetermined green light max-thresholds to cut
Change phase directional, be not detected by the described speed described vehicle less than predetermined described speed threshold value
In the case of, enter next step；
Step 3-c:
As green extension Δ t, Δ t=dl/vl, wherein, dlFor between described trailer and described crossing
Distance, vlFor the speed of described trailer, when terminating or arrive described green light max-thresholds, according to
Described Phase-switching precedence diagram and described phase conflicts table carry out described Phase-switching.
The most according to claim 1 based on the signal lights Self Adaptive Control of vehicle-mounted data urban traffic intersection
Method, is further characterized in that:
Wherein, described step of cutting off ahead of time is ought to monitor the described of current green light phase directional in real time to remain
Remaining queue length cuts off green light when being less than predetermined residue queue length threshold value ahead of time, if this phase directional
Green light remaining time less than predetermined green light remaining time time, then wait that described green light max-thresholds is complete
Cheng Houzai converts described signal lights and carries out described Phase-switching.
The most according to claim 1 based on the signal lights Self Adaptive Control of vehicle-mounted data urban traffic intersection
Method, is further characterized in that:
Wherein, the described unlatching step that postpones is ought to monitor the described of current red light phase directional in real time to remain
Remaining queue length opens green light late less than predetermined residue queue length threshold delay.
The most according to claim 1 based on the signal lights Self Adaptive Control of vehicle-mounted data urban traffic intersection
Method, is further characterized in that:
Wherein, to coordinate step described green for being used for ensureing that the described green light opening time is not more than for road intersection
Lamp maximum time.
The most according to claim 1 based on the signal lights Self Adaptive Control of vehicle-mounted data urban traffic intersection
Method, is further characterized in that:
Wherein, described step of cutting off ahead of time is ought to monitor the described of current green light phase directional in real time to remain
Remaining queue length cuts off green light when being less than predetermined residue queue length threshold value ahead of time, if this phase directional
Green light remaining time less than predetermined green light remaining time time, then wait that described green light max-thresholds is complete
Cheng Houzai converts described signal lights and carries out described Phase-switching,
The described unlatching step that postpones is that the described residue that ought monitor current red light phase directional in real time is queued up
Length opens green light late less than predetermined residue queue length threshold delay,
Described road intersection coordinates step for being used for ensureing that the described green light opening time is not more than described green light
Maximum time,
Cut off step described at least ahead of time, step is opened in described delay and described road intersection coordinates step
In any one and described cut off step ahead of time, step and described road intersection are opened in described delay
Coordinate step is at least arbitrarily mutually combined two-by-two.
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