CN104282161B - The awkward district of a kind of signalized intersections based on real-time vehicle track control method - Google Patents

Abstract

The present invention relates to the awkward district of a kind of signalized intersections based on real-time vehicle track control method, it is characterized in that, comprise the following steps: 1) according to the holographic detection device of crossing, obtain and will pass through the status information of crossing vehicle; 2) will carry out intersection signal phase controlling by the status information of crossing vehicle according to what obtain, be positioned at the vehicle fleet size in the awkward district of a class and the awkward district of two classes and predict the awkward district of a class of ensuing time and the vehicle fleet size in the awkward district of two classes by obtaining current time, determine whether to extend green time. Compared with prior art, the present invention such as has at safe, easy to implement, the advantage such as method is advanced.

Description

The awkward district of a kind of signalized intersections based on real-time vehicle track control method

Technical field

The present invention relates to traffic control field, especially relate to a kind of signalized intersections based on real-time vehicle trackAwkward district control method.

Background technology

Within the scope of letter control crossing, exist a phenomenon to be called awkward district, be divided into the awkward district of a class and two classes twoDifficult district, the existence in the district that faces a difficult choice has greatly affected the traffic safety of crossing. The definition in the awkward district of one class is to intersectThe vehicle that travels with speed limit of mouth not only cannot be before stop line in the time that amber light finishes emergency but also cannot hand over by safetyOne section of area of space of prong. Fig. 1 is face a difficult choice district schematic diagram of a class, Xs represent can safe stopping before stop lineMinimum range, be less than Xs if amber light opens vehicle when bright to the distance of stop line, vehicle cannot exist by safe stoppingIn stop line. Xc represents that vehicle can roll the ultimate range of stop line away from amber light interval. If amber light opens brightTime vehicle be greater than Xc apart from the distance of stop line, amber light finishes vehicle in front and cannot roll crossing away from. Er Leiliang districtDefinition is the distance of understanding ramp to stop since 90% vehicle, understands the distance of ramp to stop to the vehicle that only has 10%From end. In some researchs, define the awkward district of Equations of The Second Kind scope, root by Vehicle Driving Cycle to the time of stop lineAccording to different local observation datas, conventionally there is 2.5s～5.0s, 2.0s～4.5s, 3.0s～5.0/6.0s and 1.7s～4.7s.Fig. 2 is the awkward district of two classes schematic diagram.

Traditional awkward district control method comprises a class awkward protection control method and the awkward district's protection of two classes controlling partyMethod. Using maximum awkward district Protection control systems is at present Green extension system (GES). Green timeProlongation system is by front, crossing certain distance, detector being set, by detector, vehicle being detected,If meet certain condition, green time is extended, until do not satisfy condition, or green time reachesLarge green time, switches phase place. Common green light prolongation system comprises single detector face a difficult choice zone control system, two inspectionSurvey the awkward zone control system of device, the awkward zone control system of multi-detector. Comparatively conventional awkward district Protection control systemAlso comprise DCS system, cart priority system, SOS system etc. System is controlled in these conventional awkward district protectionsThe system coil detection mode based on traditional often, can not detect vehicle, in real time to sentencing of vehicle-stateDisconnected have certain deviation with actual conditions, thereby affect protection effect. So conventional awkward zone control system existsProblem be:

1) detection information underutilization. Traditional awkward zone control system often adopts coil checker, is difficult to doTo the real-time status of vehicle is detected, thereby can not continue to judge exactly to the status information of vehicle.

2) protection effect deficiency. Be limited to the defect of traditional detection mode, control algolithm aspect is existed notFoot, finally causes protection effect deficiency.

But under transport information background of today, the variation of detection means makes the real-time track of vehicleObtain and become possibility, vehicle real-time track can be used for the more advanced awkward district control strategy of exploitation. The present inventionFor traditional awkward district control strategy in novel traffic detection information the deficiency aspect utilizing, to Holographic test environmentUnder signal control method carry out pilot study, the method, can be according to real-time inspection for high speed crossing, suburbThe information such as the car speed, position, vehicle of surveying, are considering a class the face a difficult choice potential hazard journey in district of district and two classes of facing a difficult choiceDegree and car and truck, on the basis of the difference aspect vehicle performance, are estimated the car that current time is faced a difficult choice in districtNumber and the predict future vehicle number in district of facing a difficult choice, minimum for control target taking vehicle number in the district that faces a difficult choice, take into account controlUnder the prerequisite of efficiency processed, judge the moment of Phase-switching.

Summary of the invention

Object of the present invention is exactly to provide a kind of safe, easy in order to overcome the defect that above-mentioned prior art existsIn enforcement, method advanced person's the intersection signal phase control method based on real-time vehicle track.

Object of the present invention can be achieved through the following technical solutions:

The awkward district of a signalized intersections control method based on real-time vehicle track, comprises the following steps:

1), according to the holographic detection device of crossing, obtain and will pass through the status information of crossing vehicle;

2) will carry out intersection signal phase controlling by the status information of crossing vehicle according to what obtain, logicalCross obtain current time be positioned at a class face a difficult choice district and two classes face a difficult choice district vehicle fleet size and predict the ensuing timeThe vehicle fleet size in the awkward district of an interior class and the awkward district of two classes, determines whether to extend green time.

Described step 2) specifically comprise the following steps:

201) judge whether current green time is greater than minimum green time g_min, if yes, carry out step 202),If NO, carry out step 211), minimum green time g_minCalculating formula be:

$g_{\min }=7+\frac{L_p}{v_p}-I$

Wherein, L_pFor pedestrian's street crossing road length, v_pFor pedestrian's street crossing leg speed, get 1.2m/s, when I is green light intervalBetween;

202) judge whether current residual green time reaches maximum green time g_max, if yes, carry out step212), if NO, carry out step 203), maximum green time g_maxCalculating formula be:

$g_{\max }=(C_{\max }-L)\frac{y}{Y}$

Wherein, C_maxFor the maximum cycle time, L is the total losses time, and y is this phase place flow-rate ratio, and Y is flowThan sum, g_maxFor 30-60s;

203) car speed obtaining according to Holographic test and position, calculate and be currently located in the awkward district of the first kindVehicle number N_DZ-I，N_DZ-ICalculating formula be:

$X_{\mathrm{cs}}^i=v_i\mathrm{\δ}+{v_i}^2/2a$

$N_{\mathrm{DZ}-I}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZ}{I}_i$

Wherein, DZI_iFor 0-1 variable, if vehicle is positioned at the awkward district of the first kind, is 1, otherwise is 0, v_iForThe instantaneous velocity of i car, d_iBe i spacing 'STOP' line ahead, δ is the reaction time, the deceleration that a is vehicleDegree, τ is yellow time, X_csFor vehicle can safe stopping before stop line required minimum range, if carSelection is at the uniform velocity passed through, and can within yellow time, the ultimate range by stop line be restricted to X_p, subscript i tableShow i car;

204) judge N_DZ-IWhether equal zero, if yes, carry out step 205), if NO, carry out step 207);

205) in predicting from current time to maximum green time, each second is positioned at the vehicle number in the awkward district of the first kindPN_DZ-1，PN_DZ-ICalculating formula be:

${\mathrm{PN}}_{\mathrm{DZ}-I}^t=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZ}{I}_i^t$

Wherein,Be i car in the time of t second apart from 'STOP' line ahead,For 0-1 variable, if vehicle existsWhen t second, being positioned at the first kind district that faces a difficult choice is 1, otherwise is 0;

206) judge N_DZ-IWhether be more than or equal to PN_DZ-I, if yes, carry out step 211), if NO,Carry out step 212);

207) calculate the vehicle number N that is currently located at the awkward district of Equations of The Second Kind_DZ-II，N_DZ-IICalculating formula be:

$N_{\mathrm{DZ}-\mathrm{II}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZI}{I}_i$

Wherein, DZII_iFor 0-1 variable, if vehicle is positioned at the awkward district of Equations of The Second Kind, is 1, otherwise is 0, TTS_lowFor 2.5s, TTS_highFor 5.0s;

208) judge N_DZ-IIWhether be zero, if yes, carry out step 209), if NO, carry out step 212);

209) within predicting from current time to maximum green time, each second is positioned at the vehicle number in the awkward district of Equations of The Second KindPN_DZ-II，PN_DZ-IICalculating formula as follows:

${\mathrm{PN}}_{\mathrm{DZ}-\mathrm{II}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZI}{I}_i^t$

Wherein,For 0-1 variable, if vehicle is positioned at the awkward district of Equations of The Second Kind, is 1, otherwise is 0, TTS_lowFor 2.5s, TTS_highFor 5.0s;

210) judge N_DZ-IIWhether be more than or equal to PN_Dz-II, if yes, carry out step 211), if NO,Carry out step 201);

211) continue green light;

212) finish green time.

Described step 1) in will by the status information of crossing vehicle comprise car speed, position, vehicle,Density, crossing queue length, saturation degree and delay information.

Compared with prior art, the present invention has the following advantages:

One, safe, carry out respectively monitor and predict by the awkward district of district and two classes that a class is faced a difficult choice, effectivelyReduce the number of vehicles in the district that faces a difficult choice, reduced the security incident hidden danger of crossing.

Two, be convenient to implement, the present invention only need set up vehicle Holographic test equipment in crossing, is aided with monitoring strategiesCan protect intersection.

Three, method advanced person has developed two kinds of awkward districts in conjunction with the protection algorithm judging, Neng Gouyou under holographic conditionChange the Phase-switching moment, promote the district's protection effect of facing a difficult choice.

Brief description of the drawings

Fig. 1 is the awkward district of class schematic diagram;

Fig. 2 is the awkward district of two classes schematic diagram;

Fig. 3 is control logic figure of the present invention;

Fig. 4 is flow chart of steps of the present invention;

Fig. 5 is dual detector artwork;

Fig. 6 is multi-detector artwork;

Fig. 7 is the district's algorithm simulating result of facing a difficult choice, and wherein, (7a) is the awkward district of class vehicle fleet statistical chart, (7b)Be the awkward district of two classes vehicle fleet statistical chart, (7c) all incur loss through delay statistical chart for car.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

Embodiment:

As shown in Figure 4, the awkward district of a kind of signalized intersections based on real-time vehicle track control method, comprises followingStep:

1) according to the holographic detection device of crossing, obtain and will pass through the status information of crossing vehicle, compriseCar speed, position, vehicle, density, crossing queue length, saturation degree and delay information;

2) will carry out intersection signal phase controlling by the status information of crossing vehicle according to what obtain, logicalCross obtain current time be positioned at a class face a difficult choice district and two classes face a difficult choice district vehicle fleet size and predict the ensuing timeThe vehicle fleet size in the awkward district of an interior class and the awkward district of two classes, determines whether to extend green time.

Described step 2) specifically comprise the following steps:

201) judge whether current green time is greater than minimum green time g_min, if yes, carry out step 202),If NO, carry out step 211), minimum green time g_minCalculating formula be:

$g_{\min }=7+\frac{L_p}{v_p}-I$

Wherein, L_pFor pedestrian's street crossing road length, v_pFor pedestrian's street crossing leg speed, get 1.2m/s, when I is green light intervalBetween;

202) judge whether current residual green time reaches maximum green time g_max, if yes, carry out step212), if NO, carry out step 203), maximum green time g_maxCalculating formula be:

$g_{\max }=(C_{\max }-L)\frac{y}{Y}$

Wherein, C_maxFor the maximum cycle time, L is the total losses time, and y is this phase place flow-rate ratio, and Y is flowThan sum, g_maxFor 30-60s;

203) car speed obtaining according to Holographic test and position, calculate and be currently located in the awkward district of the first kindVehicle number N_DZ-I，N_DZ-ICalculating formula be:

$X_{\mathrm{cs}}^i=v_i\mathrm{\δ}+{v_i}^2/2a$

$N_{\mathrm{DZ}-I}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZ}{I}_i$

Wherein, DZI_iFor 0-1 variable, if vehicle is positioned at the awkward district of the first kind, is 1, otherwise is 0, v_iForThe instantaneous velocity of i car, d_iBe i spacing 'STOP' line ahead, δ is the reaction time, the deceleration that a is vehicleDegree, τ is yellow time, X_csFor vehicle can safe stopping before stop line required minimum range, if carSelection is at the uniform velocity passed through, and can within yellow time, the ultimate range by stop line be restricted to X_p, subscript i tableShow i car;

204) judge N_DZ-IWhether equal zero, if yes, carry out step 205), if NO, carry out step 207);

205) in predicting from current time to maximum green time, each second is positioned at the vehicle number in the awkward district of the first kindPN_DZ-I，PN_DZ-ICalculating formula be:

${\mathrm{PN}}_{\mathrm{DZ}-I}^t=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZ}{I}_i^t$

Wherein,Be i car in the time of t second apart from 'STOP' line ahead,For 0-1 variable, if vehicle existsWhen t second, being positioned at the first kind district that faces a difficult choice is 1, otherwise is 0;

206) judge N_DZ-IWhether be more than or equal to PN_DZ-I, if yes, carry out step 211), if NO,Carry out step 212);

207) calculate the vehicle number N that is currently located at the awkward district of Equations of The Second Kind_DZ-II，N_DZ-IICalculating formula be:

$N_{\mathrm{DZ}-\mathrm{II}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZI}{I}_i$

Wherein, DZII_iFor 0-1 variable, if vehicle is positioned at the awkward district of Equations of The Second Kind, is 1, otherwise is 0, TTS_lowFor 2.5s, TTS_highFor 5.0s;

208) judge N_DZ-IIWhether be zero, if yes, carry out step 209), if NO, carry out step 212);

209) within predicting from current time to maximum green time, each second is positioned at the vehicle number in the awkward district of Equations of The Second KindPN_DZ-II，PN_DZ-IICalculating formula as follows:

$P{N}_{\mathrm{DZ}-\mathrm{II}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{DZI}{I}_i^t$

Wherein,For 0-1 variable, if vehicle is positioned at the awkward district of Equations of The Second Kind, is 1, otherwise is 0, TTS_lowFor 2.5s, TTS_highFor 5.0s;

210) judge N_DZ-IIWhether be more than or equal to PN_DZ-II, if yes, carry out step 211), if NO,Carry out step 201);

211) continue green light;

212) finish green time.

As shown in Figure 5 and Figure 6, the crossing, collecting location Cao An highway Jia Song North Road of this secondary data, has selectedFour investigation on working day, the data acquisition modes of employing is video capture, needs the data of investigation to mainly contain vehicle speedDegree, vehicle deceleration, reaction time and vehicle be apart from stop line distance, the data that draw according to collection in worksite, weBy software, draw the information such as speed, acceleration and deceleration of vehicle, and can estimate the anti-of driverAnswer the parameters such as operating time.

According to actual crossing situation, we utilize VISSIM environment exploitation to go out in-circuit emulation platform, and rightVarious parameters are demarcated.

3 different awkward district control strategies of this this emulation testing, except in this paper based on real-time vehicle trackAwkward district control strategy, also contrast with dual detector prevention policies and multi-detector prevention policies, emulation surveyExamination hall scape numbering and condition are as shown in table 1:

Table 1 emulation testing scene numbering and condition

Fig. 7 is simulation result under different scenes, can find out, based on the plan of real-time vehicle track from figure (7a)Slightly next class district's vehicle number of facing a difficult choice is 0 under 3 species saturations, and effect is best, the corresponding vehicle number of dual detector is 9,9 and 19, and the corresponding vehicle number of multi-detector is 6,12 and 15. As can be seen from the above data, detector numberMeasure manyly, better to the face a difficult choice protection effect in district of a class, the algorithm based on real-time vehicle track can under middle low dischargeTo eliminate the awkward district of class situation completely.

From figure (7b), can find out, under the strategy based on real-time vehicle track, two classes are faced a difficult choice district's vehicle number in threeUnder saturation degree, all well below dual detector and multi-detector, effect is best, finds out, based in real time from simulation resultThe algorithm of track of vehicle can substantially be eliminated the awkward district of two classes situation under middle low discharge.

From incuring loss through delay result figure (7c), the algorithm based on real-time vehicle track is incured loss through delay minimum, is secondly detect moreDevice and dual detector. In the low discharge situation that is 0.55 in saturation degree, the delay data of several algorithms are not obviouslyDifference, along with saturation degree is increased to 0.7 and 0.85, Holographic test is compared dual detector and is reduced by 9%, than many detectionsDevice reduces by 7%. In addition, under several different flow conditions, the delay of dual detector and multi-detector all connects very muchClosely.

Claims (2)

1. the awkward district of the signalized intersections based on a real-time vehicle track control method, is characterized in that, comprisesFollowing steps:

1), according to the holographic detection device of crossing, obtain and will pass through the status information of crossing vehicle;

2) will carry out intersection signal phase controlling by the status information of crossing vehicle according to what obtain, logicalCross obtain current time be positioned at a class face a difficult choice district and two classes face a difficult choice district vehicle fleet size and predict the ensuing timeThe vehicle fleet size in the awkward district of an interior class and the awkward district of two classes, determines whether to extend green time, describedStep 2) specifically comprise the following steps:

201) judge whether current green time is greater than minimum green time g_min, if yes, carry out step 202),If NO, carry out step 211), minimum green time g_minCalculating formula be:

$g_{min}=7+\frac{L_p}{v_p}-I$

Wherein, L_pFor pedestrian's street crossing road length, v_pFor pedestrian's street crossing leg speed, get 1.2m/s, when I is green light intervalBetween;

202) judge whether current residual green time reaches maximum green time g_max, if yes, carry out step212), if NO, carry out step 203), maximum green time g_maxCalculating formula be:

$g_{max}=(C_{max}-L)\frac{y}{Y}$

Wherein, C_maxFor the maximum cycle time, L is the total losses time, and y is this phase place flow-rate ratio, and Y is flowThan sum, g_maxFor 30-60s;

203) car speed obtaining according to Holographic test and position, calculate and be currently located in the awkward district of the first kindVehicle number N_DZ-Ⅰ，N_DZ-ⅠCalculating formula be:

$X_{CS}^i=v_i\mathrm{\δ}+{v_i}^2/2a$

$X_P^i=v_i\mathrm{\τ}$

$N_{DZ-I}=\underset{i=1}{\overset{n}{\Σ}}{\mathrm{DZI}}_i$

Wherein, DZI_iFor 0-1 variable, if vehicle is positioned at the awkward district of the first kind, is 1, otherwise is 0, v_iForThe instantaneous velocity of i car, d_iBe i spacing 'STOP' line ahead, δ is the reaction time, the deceleration that a is vehicleDegree, τ is yellow time, X_csFor vehicle can safe stopping before stop line required minimum range, if carSelection is at the uniform velocity passed through, and can within yellow time, the ultimate range by stop line be restricted to X_p, subscript i tableShow i car;

204) judge N_DZ-IWhether equal zero, if yes, carry out step 205), if NO, carry out step 207);

205) in predicting from current time to maximum green time, each second is positioned at the vehicle number in the awkward district of the first kindPN_DZ-I，PN_DZ-ICalculating formula be:

${\mathrm{PN}}_{DZ-1}^t=\underset{i=1}{\overset{n}{\Σ}}{\mathrm{DZI}}_i^t$

Wherein,Be i car in the time of t second apart from 'STOP' line ahead,For 0-1 variable, if vehicle existsWhen t second, being positioned at the first kind district that faces a difficult choice is 1, otherwise is 0;

206) judge N_DZ-IWhether be more than or equal to PN_DZ-I, if yes, carry out step 211), if NO,Carry out step 212);

207) calculate the vehicle number N that is currently located at the awkward district of Equations of The Second Kind_DZ-II，N_DZ-IICalculating formula be:

$N_{DZ-II}=\underset{i=1}{\overset{n}{\Σ}}{\mathrm{DZII}}_i$

Wherein, DZII_iFor 0-1 variable, if vehicle is positioned at the awkward district of Equations of The Second Kind, is 1, otherwise is 0, TTS_lowFor 2.5s, TTS_highFor 5.0s;

208) judge N_DZ-IIWhether be zero, if yes, carry out step 209), if NO, carry out step 212);

209) within predicting from current time to maximum green time, each second is positioned at the vehicle number in the awkward district of Equations of The Second KindPN_DZ-II，PN_DZ-IICalculating formula as follows:

${\mathrm{PN}}_{DZ-II}=\underset{i=1}{\overset{n}{\Σ}}{\mathrm{DZII}}_i^t$

Wherein,For 0-1 variable, if vehicle is positioned at the awkward district of Equations of The Second Kind, is 1, otherwise is 0, TTS_lowFor 2.5s, TTS_highFor 5.0s;

210) judge N_DZ-IIWhether be more than or equal to PN_DZ-II, if yes, carry out step 211), if NO,Carry out step 201);

211) continue green light;

212) finish green time.

2. the awkward district of a kind of signalized intersections based on real-time vehicle track according to claim 1 controlling partyMethod, is characterized in that, described step 1) in will by the status information of crossing vehicle comprise car speed,Position, vehicle, density, crossing queue length, saturation degree and delay information.