CN104200680B - The coordinating control of traffic signals method of arterial street under supersaturation traffic behavior - Google Patents
The coordinating control of traffic signals method of arterial street under supersaturation traffic behavior Download PDFInfo
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Abstract
The invention discloses a kind of coordinating control of traffic signals method of arterial street under supersaturation traffic behavior, comprise determining that the crucial crossing on arterial highway, and Shang Ge crossing, selected arterial highway is coordination phase place for providing the craspedodrome phase place of right-of-way along direction, arterial highway craspedodrome wagon flow; The green light Startup time of phase place is coordinated for benchmark with crucial crossing, coordinate the green time of phase place and the phase contrast of Adjacent Intersections in conjunction with Shang Ge crossing, arterial highway, determine the green light Startup time coordinating phase place when other each crossing coordinates along direction, arterial highway successively. The present invention retains coordination band by building two-way " red ripple ", achieve the orderly function of wagon flow on arterial highway under supersaturation traffic behavior, not only increase the safety that vehicle on arterial highway runs, also can effectively prevent and evade simultaneously wagon flow returning between crossing along the line, arterial highway in arterial highway under satiety traffic behavior and overflow and overflow and blocking up of may result in spreads to adjacent intersection or arterial highway because returning.
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 light time distribution of each phase of the relevant intersection to determine the green light starting time of the relevant intersection in the corresponding 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 public signal periods of all intersections on the trunk road and the green time of each coordination phase, and setting the phase difference between adjacent intersections in the same trunk road direction according to the public signal periods and the green time, 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 corresponding to the 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 in a mode of combining field observation and field questionnaire survey and combining with the suggestions of on-duty traffic policemen, and the green time 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, the flow rate of the sections is generally stable and is suitable for timing control, a short-period timing control scheme is selected, and the signal period and the green time 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 at all intersections is C- α max (C)j) Wherein α∈ [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.
Green time 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 time, l, representing the coordinated phase p of j +1 at the intersectionj,j+1Indicating the distance between intersection j and intersection j +1,represents an average traveling speed of 0. ltoreq. β when the vehicle travels from the intersection j to the intersection j +1 in the coordination in the upstream direction in which the right of way is given by the coordination phase p1Regulating factor of not more than 0.3;
phase difference between intersection j +1 and intersection j in coordination along downlink directionComputingThe 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 time, l, representing coordinated phase p of intersection jj,j+1Indicating the distance between intersection j and intersection j +1,indicating the average of the time when the vehicle is driven from intersection j +1 to intersection j while coordinating in the downstream direction where right of way is provided by coordination phase pRunning speed of 0- β2Regulating 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 +1The calculation formula is as follows:
wherein,green light start time x ∈ N indicating coordination phase p of intersection j when coordination is performed in the up direction+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 public signal period and the green time of all the intersections on the trunk road, and setting the phase difference between adjacent intersections in the same coordination direction according to the public signal period and the green time, 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 main roadHistorical flow information of each intersection in the peak period can be calculated, and 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 CjAfter calculating the signal periods for all intersections, the common signal period for all intersections was chosen to be C α max (C)j) Wherein α∈ [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, the green time of each phase at each intersection needs to be calculated, the green time needs to be calculated, the saturation of the intersection needs to be used, and the saturation x is calculated for the phase i representing the intersection ji jThe 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.
After the saturation is obtained, the green time of each phase of the intersection can be calculated, considering that oversaturated traffic frequently occurs in holidays or peak hours in early and late shifts, the traffic flow on roads in the time periods is very large, and in order to guarantee the safety of pedestrians crossing the roads, the method for calculating the green time of the phase i of the intersection j is adopted in the invention
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 convenience of calculation, so that the green time includes the yellow flash and the full red time,the shortest green time that the phase i of the intersection j needs to have is indicated by combining the traffic police experience and the historical traffic flow data, P indicates the phase number of the intersection (P is 3 in fig. 1), C indicates the signal cycle of the intersection j, and is also the common signal cycle.
After the green time is set, the phase difference between the intersections is set in sequence 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 time, 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 is not less than 0 and not more than β1Regulating 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 time, l, representing coordinated phase p of intersection jj,j+1Represents the distance between the intersection j and the intersection j +1, and is not less than 0 and not more than β2Regulating 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 band of the main road is thatThe green light starting time of the coordinated phase of the key intersection is taken 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 adjusting intersections 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,indicating coordination in the up-flow direction along the trunkThe green light starting time of the coordination phase p of the time intersection j,green light start time, x ∈ N, indicating coordination phase p of intersection j +1 when coordination is performed in the up direction of the thoroughfare+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,indicating progress in the downstream directionThe green light starting time of the coordination phase p of the intersection j during the line coordination,green light start time, x ∈ N, indicating coordination phase p of intersection j +1 when coordination is performed in the down direction+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 The method comprises the following steps:
wherein λ ∈ (0,0.3) represents a time threshold coefficient set according to coordination needs, which can be adjusted appropriately according to coordination effects,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 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 (8)
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 public signal periods of all intersections on the trunk road and the green time of each coordination phase, and setting the phase difference between adjacent intersections in the same trunk road direction according to the public signal periods and the green time, wherein the trunk road direction comprises an uplink direction and a downlink direction;
green time 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,the saturation flow of the mth lane representing the phase i of the intersection j, wherein M represents the total number of lanes contained in all roads to which the traffic right is given by the coordination phase i of the intersection j;
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 at all intersections is C- α max (C)j) Wherein α∈ [0.9,1.1]A periodic relaxation factor that is adjusted as needed.
6. 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:
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 time, l, representing the coordinated phase p of j +1 at the intersectionj,j+1Indicating the distance between intersection j and intersection j +1,indicating that the vehicles are passing in coordination in the upstream direction with the right of way provided by the coordination phase pThe average running speed of the intersection j +1 is not less than 0 and not more than β1Regulating 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 time, l, representing coordinated phase p of intersection jj,j+1Indicating the distance between intersection j and intersection j +1,the average running speed of the vehicle when the vehicle runs from the intersection j +1 to the intersection j when the coordination is carried out along the descending direction of the right of way provided by the coordination phase p is not less than 0 and not more than β2Regulating factor of less than or equal to 0.3.
7. The method as claimed in claim 6, wherein the coordination control of the traffic signals of the urban arterial road in the oversaturated traffic state in the step 3 is performed at the green light starting time of the coordination phase p of the intersection j +1 during the coordination in the ascending directionThe calculation formula is as follows:
wherein,green light indicating coordination phase p of intersection j when coordination is performed in up directionStarting time, 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.
8. The method as claimed in claim 7, wherein the method comprises the step of performing the traffic signal coordination control on the urban arterial road in the oversaturated traffic condition3, green light starting time of up direction for the same 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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