CN104200680A - Traffic signal coordination control method of arterial street under super saturation traffic state - Google Patents
Traffic signal coordination control method of arterial street under super saturation traffic state Download PDFInfo
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Abstract
The invention discloses a traffic signal coordination control method of an arterial street under a super saturation traffic state. The traffic signal coordination control method of the arterial street under the super saturation traffic state includes steps: confirming a key intersection on the arterial street, and selecting straight running phase positions of all intersections on the arterial street, which provide traffic rights for straight running vehicle flows along the direction of the arterial street, as coordination phase positions; using a green light start moment of the coordination phase position of the key intersection as a benchmark, and sequentially confirming green light start moments of the coordination phase positions of the other intersections when the other intersections coordinate along the direction of the arterial street by using green time ratios of the coordination phase positions of all the intersections on the arterial street and phase difference between each two adjacent intersections. The traffic signal coordination control method of the arterial street under the super saturation traffic state achieves orderly running of the vehicle flows on the arterial street under the super saturation traffic state by building a bidirectional red wave interception coordination band, not only improves running safety of vehicles on the arterial street, but also simultaneously can effectively prevent and evade back overflowing of the arterial street vehicle flows, caused among the intersections along the arterial street under the super saturation traffic state, and can effectively prevent traffic jams possibly caused by the back overflowing from spreading towards the adjacent intersections or adjacent arterial streets.
Description
Technical Field
The invention relates to the field of urban intelligent traffic control, in particular to a traffic signal coordination control method for an urban arterial road in a supersaturated traffic state.
Background
Along with the continuous high-speed development of national economy, the urbanization process is further accelerated, and the great support of the country for the development of the automobile industry in recent years is benefited, the automobile holding capacity of large and medium cities in China is increased in a blowout manner, the traffic capacity of a city road network is limited, and the traffic jam is serious day by day. The upper branch section of the trunk road in the central urban area of some large and medium cities is operated in an oversaturated traffic state all the year round, and especially in rush hours in the morning and at night and immediately before holidays, bidirectional oversaturated congestion of the urban trunk road is more frequent. Obviously, traffic congestion becomes a bottleneck restricting the intelligent development of modern cities, which not only reduces the safety of road driving, but also greatly wastes a large amount of time and energy, and aggravates the pollution of vehicle exhaust emission to the environment.
Although, many major and middle cities in China have introduced various mature and advanced traffic signal control systems from abroad in the early 90 s, such as TRANSYT system, SCATS system, SCOOT system, RHODES system, and the like. However, in various big cities in China, complex traffic flows of mixed traffic of motor vehicles, non-motor vehicles and pedestrians exist, the layout of intersections in a road network is not reasonable, the traffic awareness that traffic participants give way actively during traffic jam needs to be improved, the contradiction between supply and demand of traffic road resources is prominent, and the like, so that the traffic signal control system generally shows unsatisfactory performance in practical application, particularly in a supersaturated traffic state at peak time.
Therefore, a series of traffic signal control methods are proposed and invented by a plurality of domestic experts and researchers by combining the actual traffic conditions of China. For example, patent publication No. CN101968929A, "a single intersection signal optimization control scheme in saturated traffic state" detects the queuing situation of upstream and downstream vehicles at the intersection by a high-definition video detector, identifies the traffic event in the central area of the intersection, and adjusts the upstream and downstream traffic signal control schemes in real time according to the detection and identification results. Although the method optimizes the signal control scheme of a single intersection in a saturated traffic state, the method lacks the coordination among the intersections and ignores the influence of the optimization adjustment of the signal control scheme of the current intersection on the traffic running states of peripheral intersections and even the whole area. The patent publication CN101615344A discloses a regional traffic control method based on line coordination, which selects a relevant intersection from a plurality of intersections, and uses the coordination phase of the relevant intersection in the current sub-region as a reference phase, then combines the green light starting time of the reference phase and the green signal ratio time distribution of each phase of the relevant intersection, determines the green light starting time of the relevant intersection corresponding to the coordination phase in another sub-region, and finally determines the green light starting time of the remaining coordination phase according to the reference phase, the green light starting time of the coordination phase, and the phase difference between the coordination phases in the region. The method focuses on simplifying regional coordination optimization through line coordination optimization, and lacks discussion and technical support for traffic coordination in the oversaturated state, so that the coordination effect in the oversaturated state is limited or even fails. The regional mixed traffic adaptive signal coordination control method, with patent publication No. CN101281685, uploads vehicle information that enters each controlled intersection detected by a detector to a traffic controller for preprocessing, and then transmits the information to a regional coordination control computer, and then the regional coordination control computer performs real-time analysis and prediction on traffic flow of each intersection and accordingly issues optimized signal timing parameters to each intersection traffic controller. Although the method comprises regional coordination under different traffic load states, the coordination is established on the basis of predicting regional real-time traffic flow, and the prediction precision is limited and the realization process is complex under the oversaturated traffic state, so that the coordination effect is limited when the method is used for coordinating the urban arterial road under the oversaturated traffic state.
In summary, based on the current actual traffic conditions in China, a plurality of control methods and technologies proposed and invented in the current traffic control field at home and abroad are reviewed, and it is not difficult to find that although signal control technologies and methods which are not only aimed at a single intersection but also aimed at a trunk line and an area are available, the signal control technologies and methods are suitable for the conventional traffic state and the saturated traffic state, but practical invention patents which are specially aimed at the trunk line coordination control technology in the oversaturated traffic state are almost not available, and yet researchers and engineering technicians to be researched further develop the signals.
Disclosure of Invention
In order to solve the problem of the coordination control of the traffic signals of the urban main road in the oversaturated traffic state, the method provides a method for the coordination control of the signals of the urban main road in the oversaturated traffic state, and the method is characterized in that a bidirectional 'red wave' coordination interception zone is constructed along the main road direction from a key intersection on the urban main road, namely, after a vehicle driving along the coordination direction reaches the current intersection, the vehicle at the current intersection can obtain the right of way only before a green light in the coordination direction of a downstream intersection next to the current intersection is turned off and after the red light is turned on.
A method for coordinating and controlling traffic signals of urban arterial roads in a supersaturated traffic state comprises the following steps:
step 1, determining a key intersection on a trunk road, and selecting the coordination phase of all intersections;
step 2, determining the common signal periods of all intersections on the trunk road and the green signal ratios of all the coordination phases, and setting the phase differences between adjacent intersections in the same trunk road direction according to the common signal periods and the green signal ratios, wherein the trunk road direction comprises an uplink direction and a downlink direction;
step 3, taking the green light starting time of the coordinated phase of the key intersection as a reference, and sequentially determining the green light starting time of the coordinated phase of other intersections on the trunk road in each trunk road direction from the intersection adjacent to the key intersection according to the phase difference between the adjacent intersections, and adjusting the next intersection after unifying the green light starting time of each intersection in different trunk road directions;
and 4, taking a plurality of common signal periods as a detection period, and repeating the steps 2 and 3 after each detection period is finished.
In the step 1, a direct phase of a corresponding main road direction right of way of each intersection on the main road is selected as a coordination phase, a main bottleneck intersection on the main road is determined to be used as a key intersection on the main road by combining a mode of combining field observation and field questionnaire survey and the suggestion of on-duty traffic policemen, and the green ratio of each intersection is determined according to the historical traffic flow information of each intersection on the main road.
The main road direction refers to a direction which is in straight line along the main road, and the direction which is in straight line along the main road comprises an uplink direction and a downlink direction, wherein the uplink direction and the downlink direction represent opposite directions, and no successive primary and secondary relation exists.
At each intersection, the lane has multiple directions: the traffic right in each direction is controlled by corresponding phases, and the straight traffic flow on the trunk road is generally far greater than the traffic flow of the left turn and the right turn, so the straight phase for providing the traffic right for the straight traffic flow is generally coordinated and controlled to relieve the congestion of the trunk road, and therefore, the straight phase for providing the traffic right for the straight traffic flow on the trunk road is preferably used as the coordination phase.
The signal period calculation method of each intersection is various, and optionally, the signal period of each intersection is calculated by a Webster optimal period method according to the historical flow.
After the key intersection is selected and the coordination phase is coordinated, the signal period of each intersection needs to be set. Considering that the oversaturated traffic state often occurs in the early stage of peak time periods of holidays or working days, the traffic volume in the early stage of the peak time periods usually approaches the traffic capacity of trunk road sections and intersections thereof, and the flow rate of the sections is generally stable and suitable for timing control, a short-period timing control scheme is selected, and the signal period and the green-to-green ratio of each intersection can be calculated according to the historical flow rate information of each intersection in the peak time periods of the trunk roads. Optionally, in step 2, the largest signal period is selected as the common signal period from the signal periods of all intersections.
Besides selecting the maximum period, the control coefficient can be added to control the size of the common signal period, historical traffic flow of each intersection is used when the signal period of each intersection is calculated, and errors of the flow data in the actual acquisition and processing process are inevitable. Preferably, in step 2, the common signal period is calculated by setting the total number of intersections on the trunk to n, and for 0, the total number of intersections is n<j<n, the period of the intersection j is CjThen, the common signal period of all intersections is C ═ α × max (C)j) Wherein alpha is [0.9,1.1 ]]A periodic relaxation factor that is adjusted as needed. The cycle relaxation factor is introduced primarily to eliminate errors that may exist when calculating the cycle using the Webster equation.
Split of j phase i at intersectionThe calculation formula of (2) is as follows:
wherein,the shortest green time required by the phase i of the intersection j is shown, P represents the phase number of the intersection j, C represents the period of the public signal and the saturationThe calculation formula of (2) is as follows:
wherein,the traffic flow of the m-th lane corresponding to the phase i of the intersection j is shown,and M represents the total number of lanes contained in all roads to which the phase i of the intersection j gives the right of way.
Wherein, the shortest green light time is artificially set by combining the traffic police experience and the historical traffic flow data.
The set position of the key intersection may be in the middle of the trunk road, so that coordination needs to be performed in two trunk road directions, optionally, in step 2, the phase difference of adjacent intersections is calculated according to the trunk road directions:
phase difference of coordinated phase p of intersection j and intersection j +1 in uplink direction coordinationThe calculation formula is as follows:
wherein n represents the total number of intersections on the trunk road, j represents the intersection numbered j on the trunk road,green signal ratio, l, representing the coordinated phase p of j +1 at the intersectionj,j+1Indicating the distance between intersection j and intersection j +1,represents the average running speed of the vehicle when the vehicle runs from the intersection j to the intersection j +1 when the coordination is carried out along the uplink direction of the right of way provided by the coordination phase p, and beta is more than or equal to 01Regulating factor of not more than 0.3;
phase difference between intersection j +1 and intersection j in coordination along downlink directionThe calculation formula is as follows:
wherein n represents the total number of intersections on the trunk road, j represents the intersection numbered j on the trunk road,green ratio, l, representing the coordinated phase p of intersection jj,j+1Indicating the distance between intersection j and intersection j +1,represents the average running speed of the vehicle when the vehicle is driven from the intersection j +1 to the intersection j when the coordination is carried out along the downlink direction of the right of way provided by the coordination phase p, and beta is more than or equal to 02Regulating factor of less than or equal to 0.3.
In step 3, when the coordination is carried out along the ascending direction, the green light starting time of the coordination phase p of the intersection j +1Computing deviceThe formula is as follows:
wherein,green light starting time representing coordination phase p of intersection j when coordination is performed in the uplink direction, x ∈ N+C is the common signal period and xC is used for regulationSo that
When coordination is carried out along the downlink direction, the green light starting time calculation formula of the coordination phase p of the intersection j is as follows:
wherein,and a green light starting time of a coordination phase p of the intersection j +1 when coordination is performed in the downlink direction.
Because only the green light starting time of the key intersection in the ascending direction and the descending direction is unified during initial setting, other intersections need to be further unified. Optionally, in step 3, for the same intersection j, the green light starting time in the uplink directionAt the moment of starting the green light in the down directionThe specific implementation method for adjustment is as follows:
when in useThe starting time of the green light adjusted in the two main road directionsThe calculation formula of (2) is as follows:
when in useAnd then, calculating according to the priority of the trunk road direction to obtain the starting time of the green light adjusted in the two trunk road directions:
if the uplink direction has priority, then
If the downlink direction is prior, then
Where λ ∈ (0,0.3) denotes a time threshold coefficient set according to coordination needs, and C denotes a common signal period.
The method and the device coordinate the straight traffic flow in the trunk road coordination direction, and simultaneously consider the coordination of the upstream steering traffic flow and the downstream straight traffic flow in the coordination direction, so that the traffic capacity of the trunk road coordination direction in the oversaturated traffic state can be improved, the probability of back overflow and spread of the oversaturated motorcade between the intersections of the trunk road due to the oversaturation can be effectively avoided, and the orderly operation of the trunk road traffic flow in the oversaturated traffic state can be ensured.
Drawings
FIG. 1 is a schematic structural diagram of traffic signal coordination control of an urban main road in a supersaturated traffic state;
fig. 2 is a schematic diagram of phases and phase sequences adopted by the intersection on the trunk.
Detailed Description
The invention provides an urban main road coordination control method under the oversaturated traffic state, aiming at effectively solving the problem of bidirectional oversaturated traffic jam of the urban main road. Therefore, the utilization rate of the green light of the current intersection in the oversaturated traffic state can be improved, and the interception of upstream vehicles at the downstream intersection can be realized to a certain extent. Therefore, orderly operation of vehicles on the trunk road in a supersaturated traffic state is realized, the operation safety of the vehicles on the trunk road is improved, the probability of deadlock at the intersection of the trunk road is reduced, and the back overflow and large-range spreading of a supersaturated motorcade on the trunk road are prevented.
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings.
Fig. 1 is a schematic structural diagram of an embodiment of constructing a bidirectional red wave interception coordinating band of an urban trunk road by using the method of the invention, wherein the trunk road comprises 7 intersections. In fig. 1, a rightward arrow indicates an upward direction, a leftward arrow indicates a downward direction, circles indicated by solid lines indicate general intersections, circles indicated by dotted lines indicate key intersections, numbers in the circles indicate the numbers of the intersections, straight lines (thicker straight lines) sequentially connecting the intersections are trunk lines, and straight lines (thinner straight lines) intersecting the trunk lines indicate branch lines.
The arrows in each box in fig. 2 indicate the right of way in different phases at an intersection, wherein the arrow in the leftmost box indicates that the phase p ═ 1 provides the right of way for straight and right-turning traffic on the trunk, the arrow in the middle box indicates that the phase p ═ 2 provides the right of way for left-turning traffic on the trunk, and the arrow in the rightmost box indicates that the phase p ═ 3 provides the right of way for traffic on the branch crossing with the trunk. All crossings on the main road all adopt three phase positions, the main road contains two phase positions, straight line phase position and left turn phase position are recorded as p 1 and p 2 respectively, branch straight line, left turn and right turn share one phase position and are recorded as p 3, the specific phase sequence is in the signal operation: a main road straight-going phase, a main road left-turning phase and a branch road straight-going left-turning phase.
As shown in fig. 1, 7 intersections on the main road were observed in the field and their historical traffic congestion levels at peak hours were questionnaired. The questionnaire survey result shows that the intersection 3 and the intersection 5 are two most congested intersections in the high peak time period on the trunk road, the opinion of the on-duty traffic policeman is solicited, the intersection 3 is finally determined to be a key intersection on the trunk road, and the straight-going phase p which is 1 and is used for providing the right of way for traffic flow along the straight-going direction of the trunk road is selected as the coordination phase of the trunk road.
And 2, determining the common signal periods and the green signal ratios of all the intersections on the trunk road, and setting the phase difference between adjacent intersections in the same coordination direction according to the common signal periods and the green signal ratios, wherein the coordination direction comprises an uplink direction and a downlink direction.
Step 2, the configuration method of the basic signal control parameters when coordination is specifically realized is as follows:
first, the common signal period at each intersection is calculated. According to the historical flow information of each intersection of the trunk road in the peak period, the signal period C of each intersection on the trunk road can be calculatedj(j is more than or equal to 1 and less than or equal to 7) and signal period CjThe Webster optimal cycle method is used and is not specifically set forth herein since it is familiar to engineers in the art. After calculating the signal periods of all intersections, selecting the common signal period of all intersections as C ═ α max (C)j) Wherein alpha is [0.9,1.1 ]]The human being is a given periodic relaxation coefficient, which can be adjusted within a given interval according to specific needs.
Next, it is necessary to calculate the split of each phase at each intersection, calculate the split, use the saturation of the intersection, and for the phase i, which represents the intersection j, the saturationThe calculation formula of (2) is as follows:
wherein,the traffic flow of the mth lane indicating the phase i of the intersection j,and M represents the total number of lanes contained in all roads to which the phase i of the intersection j gives the right of way.
Usually, after saturation is obtained, the split green ratio of each phase at the intersection can be calculated, and considering that oversaturated traffic mostly occurs in holidays or peak hours in early and late shifts, the traffic flow on the road in these time periods is very largeIn order to ensure the safety of pedestrians crossing the road, the invention adopts the following method to calculate the split ratio of the phase i of the intersection j
Wherein the yellow flash and the full red time are taken out separately as lost time, and the two quantities are generally given by human beings, and are combined into the green time for the convenience of calculation, so that the green ratio is calculated, wherein the green time comprises the yellow flash and the full red time,express a conjoint crossThe shortest green time that the phase i of the intersection j must have is artificially set by the police experience and the historical traffic flow data, P represents the phase number of the intersection (P is 3 in fig. 1), C represents the signal cycle of the intersection j, and is also the common signal cycle.
After the green ratio is set, the phase difference between the intersections is set in order in the coordination direction from the key intersection in each coordination direction. Phase difference between intersection j and intersection j +1 when coordinating in the uplink directionComprises the following steps:
wherein n represents the total number of intersections on the trunk road, j represents the intersection numbered j on the trunk road,green signal ratio, l, representing the coordinated phase p of j +1 at the intersectionj,j+1Represents the distance between the intersection j and the intersection j +1, and beta is more than or equal to 01Regulating factor of not more than 0.3;
when the coordinates are matched along the downlink direction, the phase difference between the intersection j +1 and the intersection jComprises the following steps:
wherein n represents the total number of intersections on the trunk road, j represents the intersection numbered j on the trunk road,green ratio, l, representing the coordinated phase p of intersection jj,j+1Represents the distance between the intersection j and the intersection j +1, and beta is more than or equal to 02Regulating factor of less than or equal to 0.3.
And 3, taking the green light starting time of the coordinated phase of the key intersection as a reference, sequentially determining the green light starting time of other intersections on the trunk road in each coordination direction from the intersection adjacent to the key intersection according to the phase difference between the adjacent intersections, and unifying the green light starting time of each intersection in different coordination directions.
The invention constructs a bidirectional red wave interception zone along a key intersection of a trunk road, realizes a coordination control technology of coordination under the oversaturation state of the trunk road, and has the core problem that the bidirectional red wave coordination interception zone is constructed.
And setting the green light starting time of the coordination phase of each intersection participating in coordination on the coordination zone according to the obtained phase difference.
For a key intersection: the construction of the red wave coordination zone of the trunk road takes the green light starting time of the coordination phase of the key intersection as a reference, so that the green light starting time of the key intersection can be manually set as t0In the upstream direction thereofAnd the downstream directionThe green light is started at the same time, i.e.
Wherein k-3 denotes the number of the key intersection, p-1 denotes the coordinated phase,the green light starting time of the coordinated phase of the key intersection,the green light starting time of the key intersection coordination phase when the coordination is carried out along the ascending direction of the main road,and the green light starting time of the key intersection coordination phase when coordination is carried out along the descending direction of the main road.
For non-critical intersections: since the coordinated phase green light starting time of the key intersection is known, the coordinated phase green light starting time when other intersections are respectively coordinated along the ascending direction and the descending direction of the trunk road can be obtained by the following recursion method according to the phase difference between the adjacent intersections obtained in the previous step. The specific implementation process of the recursion method is described as follows:
the method comprises the steps of firstly starting from an intersection 2 and an intersection 4 which are adjacent to a key intersection 3, obtaining green light starting time of coordinated phases of other intersections in recursion mode by the two intersections, adjusting intersections 1 and 5 which are adjacent to the intersections 2 and 4 on a trunk road after the intersections 2 and 4 are adjusted, then, starting adjustment from the intersections which are adjacent to the intersections 5, and repeating the steps until an intersection 7 on the trunk road is adjusted.
(a) When coordination is carried out along the ascending direction of the trunk road:
wherein n-7 represents the total number of intersections on the main road,a green light starting time of a coordination phase p of an intersection j when coordination is performed in the up direction of the main road,the green light starting time of a coordination phase p of an intersection j +1 when coordination is carried out along the ascending direction of the trunk road, and x belongs to N+C denotes the period of the signal, and the term xC is intended to be adjustedSo that
(b) When coordination is carried out along the descending direction of the trunk road:
wherein n-7 represents the total number of intersections on the main road,a green light start timing indicating a coordination phase p of the intersection j when coordination is performed in the down direction,the green light starting time of a coordination phase p of an intersection j +1 when coordination is carried out along the downlink direction, and x belongs to N+C denotes the period of the signal, and the term xC is intended to be adjustedSo that
Because when coordinating along the ascending direction and the descending direction of trunk road respectively, except that key crossing k 3 is that the artificial setting goes up and down coordinate phase place start time unanimous, other crossings go up the green light start time of direction and the phase place is coordinated to the descending direction on the trunk road is inconsistent usually, in order to realize the two-way "red wave" of trunk road and keep back the coordination finally, just must optimize the adjustment and make them unanimous to each crossing green light start time of coordinating the phase place when coordinating along the ascending direction and the descending direction of trunk road, and the concrete adjustment thinking is:
the following describes in detail a unified method for coordinating the green light starting time of the phase p at each intersection except for the key intersection k being 3, and is discussed in the following 2 cases:
(1) when in use <math>
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</math> The method comprises the following steps:
wherein, the lambda epsilon (0,0.3) represents a time threshold coefficient set according to the coordination requirement, can be properly adjusted according to the coordination effect,andrespectively representing the starting time of the green light time of the coordination phase p when the intersection j participates in the coordination of the ascending direction and the descending direction of the trunk road,the method is characterized in that the coordination interception effect of the red waves in the uplink direction and the downlink direction is considered at the same time, and the actual green light starting time of the coordination phase p of the intersection j is obtained after the green light starting time is adjusted. (2) The meaning of the same symbol or parameter is the same here, and the generation is not repeated in the following.
(2) When in use <math>
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</math> The method comprises the following steps:
where C represents the common signal period. Considering that the intersection j under the current condition cannot meet the effect of realizing the coordinated interception of the red waves in the uplink direction and the downlink direction under the ideal condition, the green light starting time in the uplink direction and the downlink direction needs to be properly adjusted according to the actual condition. Therefore, the invention provides an adjustment rule based on the priority level of the coordination direction, and the specific implementation method is as follows:
if the emphasis satisfies the uplink coordination effect of the coordination phase p, i.e. the uplink is prioritized, then
If the emphasis satisfies the downlink coordination effect of the coordination phase p, i.e. the downlink direction is prioritized, then
It should be noted that after the green light starting time of the coordination phase p of the intersections 2 and 4 is adjusted, the corresponding steps (a) and (b) are used to perform coordination in the uplink direction and the downlink direction on the intersections yet to be adjusted, such as the intersections numbered 1, 5, 6 and 7. Namely, the starting time of the green lights in the coordinated phase at the intersections 1 and 5 is adjusted according to the method provided in the steps (1) and (2), and the final actual starting time of the green lights in the coordinated phase is determined when the two intersections simultaneously take the coordination between the uplink direction and the downlink direction into consideration.
Similarly, after the green light starting time of the coordination phase p of the intersections 1 and 5 is adjusted and determined, the steps (a) and (b) are correspondingly reused for updating other intersections which are still to be adjusted, and the updating is recurrently carried out until the final actual starting time of the green light of the coordination phase of the intersection 7 is adjusted.
And 4, taking a plurality of common signal periods as a detection period, and repeating the steps 2 and 3 after each detection period is finished.
The above description is only an example of the present invention and should not be taken as limiting the scope of the invention, so that any equivalent variations on the invention are within the scope of the invention.
The method and the device coordinate the straight traffic flow in the trunk road coordination direction, and simultaneously consider the coordination of the upstream steering traffic flow and the downstream straight traffic flow in the coordination direction, so that the traffic capacity of the trunk road coordination direction in the oversaturated traffic state can be improved, the probability of back overflow and spread of oversaturated motorcades at the intersection of the trunk road due to the oversaturation can be effectively avoided, and the orderly operation of the trunk traffic flow in the oversaturated state can be ensured.
Claims (9)
1. A method for coordinating and controlling traffic signals of urban arterial roads in a supersaturated traffic state is characterized by comprising the following steps:
step 1, determining a key intersection on a trunk road, and selecting the coordination phase of all intersections;
step 2, determining the common signal periods of all intersections on the trunk road and the green signal ratios of all the coordination phases, and setting the phase differences between adjacent intersections in the same trunk road direction according to the common signal periods and the green signal ratios, wherein the trunk road direction comprises an uplink direction and a downlink direction;
step 3, taking the green light starting time of the coordinated phase of the key intersection as a reference, and sequentially determining the green light starting time of the coordinated phase of other intersections on the trunk road in each trunk road direction from the intersection adjacent to the key intersection according to the phase difference between the adjacent intersections, and adjusting the next intersection after unifying the green light starting time of each intersection in different trunk road directions;
and 4, taking a plurality of common signal periods as a detection period, and repeating the steps 2 and 3 after each detection period is finished.
2. The method as claimed in claim 1, wherein the coordination phase is a straight-going phase providing right of way for straight-going traffic on the main road.
3. The method for coordinately controlling traffic signals on an urban arterial road in an oversaturated traffic state as claimed in claim 1, wherein the signal period at each intersection is calculated by a Webster optimal period method according to the historical traffic.
4. The method for coordinately controlling traffic signals on an urban main road under a supersaturated traffic condition according to claim 1, wherein in step 2, the largest signal period among the signal periods at all intersections is selected as the common signal period.
5. The method as claimed in claim 1, wherein in step 2, the period of the public signal is calculated by setting the total number of intersections on the trunk road to n, and for 0, the total number of intersections is n<j<n, the signal period of the intersection j is CjThen, the common signal period of all intersections is C ═ α × max (C)j) Wherein alpha is [0.9,1.1 ]]A periodic relaxation factor that is adjusted as needed.
6. The method as claimed in claim 1, wherein the green signal ratio of j phase i at the intersection is set as the green signal ratio of the city main roadThe calculation formula of (2) is as follows:
wherein,the shortest green time required by the phase i of the intersection j is shown, P represents the phase number of the intersection j, C represents the period of the public signal and the saturationThe calculation formula of (2) is as follows:
wherein,the traffic flow of the m-th lane corresponding to the phase i of the intersection j is shown,and M represents the total number of lanes contained in all roads to which the phase i of the intersection j gives the right of way.
7. The method for coordinately controlling traffic signals on an urban arterial road in an oversaturated traffic state as claimed in claim 1, wherein in step 2, the phase difference between adjacent intersections is calculated according to the direction of the arterial road:
along the upper linePhase difference of coordination phase p of intersection j and intersection j +1 in direction coordinationThe calculation formula is as follows:
wherein n represents the total number of intersections on the trunk road, j represents the intersection numbered j on the trunk road,green signal ratio, l, representing the coordinated phase p of j +1 at the intersectionj,j+1Indicating the distance between intersection j and intersection j +1,represents the average running speed of the vehicle when the vehicle runs from the intersection j to the intersection j +1 when the coordination is carried out along the uplink direction of the right of way provided by the coordination phase p, and beta is more than or equal to 01Regulating factor of not more than 0.3;
phase difference between intersection j +1 and intersection j in coordination along downlink directionThe calculation formula is as follows:
wherein n represents the total number of intersections on the trunk road, j represents the intersection numbered j on the trunk road,green ratio, l, representing the coordinated phase p of intersection jj,j+1Indicating the distance between intersection j and intersection j +1,represents the average running speed of the vehicle when the vehicle is driven from the intersection j +1 to the intersection j when the coordination is carried out along the downlink direction of the right of way provided by the coordination phase p, and beta is more than or equal to 02Regulating factor of less than or equal to 0.3.
8. The method according to claim 7, wherein in the step 3, the green light starting time of the coordination phase p of the intersection j +1 is adjusted when the coordination is performed in the ascending directionThe calculation formula is as follows:
wherein,to representStarting time of green light of coordination phase p of intersection j when coordination is carried out along uplink direction, x belongs to N+C is the common signal period and xC is used for regulationSo that
When coordination is carried out along the downlink direction, the green light starting time calculation formula of the coordination phase p of the intersection j is as follows:
wherein,and a green light starting time of a coordination phase p of the intersection j +1 when coordination is performed in the downlink direction.
9. The method as claimed in claim 8, wherein the green light starting time of the ascending direction at step 3 is the same as the green light starting time of the intersection jAt the moment of starting the green light in the down directionThe specific implementation method for adjustment is as follows:
when in useThe starting time of the green light adjusted in the two main road directionsThe calculation formula of (2) is as follows:
when in useAnd then, calculating according to the priority of the trunk road direction to obtain the starting time of the green light adjusted in the two trunk road directions:
if the uplink direction has priority, then
If the downlink direction is prior, then
Where λ ∈ (0,0.3) denotes a time threshold coefficient set according to coordination needs, and C denotes a common signal period.
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