CN104332062B - Intersection signal based on sensing control model is coordinated to control optimization method - Google Patents

Abstract

The present invention provides a kind of coordinating control of traffic signals method of urban road, belongs to intelligent traffic signal technical field of system control.The inventive method includes: feature and the signal coordination control principles such as the flexibility that combination sensing controls, it is proposed that a kind of intersection signal based on sensing control model coordinates control optimization method, gives Phase-switching method and optimization method.The inventive method the vehicle of each each phase place of crossing of real-time response can arrive information, and phase place runs the time, non-coordinating phase place is run time and phase difference and determined the changing method of phasetophase according to coordinating；The method can be used for urban road signal coordination control, controls have the advantages such as saving green time, minimizing vehicle queue length and raising road passage capability relative to traditional green wave band.

Description

Intersection signal based on sensing control model is coordinated to control optimization method

Technical field

The present invention provides a kind of coordinating control of traffic signals method of urban road, belongs to intelligence friendship Messenger technical field of system control.

Background technology

Urban traffic signal sensing control is a kind of very important traffic signalization pattern, Under magnitude of traffic flow unsaturated state, for single crossing, when taking sensing to control, certain side It is exactly green light in time having vehicle by demand, i.e. becomes red light without vehicle by demand, as letter As signal lamp " slot mesh ", so, small and medium-sized cities sensing the most at home and abroad controls by extensively Research and application.But sensing control there is also sizable drawback, and it is suitable only for traffic The little single intersection of flow carries out signal control, lacks the interaction at upstream and downstream crossing, it is impossible to carry out Coordinate to control.Coordinating control of traffic signals is the control model that lot of domestic and foreign city is taked, Especially " green wave band " control model, under coordinating control model, vehicle can continue through road Mouthful, reduce stop frequency and delay, well received.But, coordinate under control model, non-association The time of phase modulation position is usually fixed, and generally also can give when non-coordinating phase place is without vehicle demand Give green light, it is impossible to as sensing controls, carry out the switching of phase place according to vehicle demand.

Summary of the invention

In order to overcome the deficiency of above-mentioned existing traffic signal control method, it is proposed that based on sensing control The intersection signal of molding formula is coordinated to control optimization method.The present invention combines the flexible of sensing control Property etc. feature and signal coordination control principle, it is proposed that a kind of based on sensing control model crossing Signal coordinated control optimization method, gives Phase-switching method and optimization method.The present invention's Method can each each phase place of crossing of real-time response vehicle arrive information, and according to coordinate phase Position operation time, non-coordinating phase place operation time and phase difference determine the changing method of phasetophase Specifically adopt the following technical scheme that the method comprises the steps:

Step 1: benchmark crossing brings into operation and coordinates phase place PH1, if offset_i≤k_i, then hold Row step 2；If offset_i>k_i, then step 7 is performed；Wherein offset_iFor coordinating crossing i phase place Difference optimal value, k_iOptimum error coefficient for crossing i；

Step 2: judge whether crossing i is currently running coordination phase place PH1, if it is, perform Step 3；If not, then step 4 is performed；

Step 3: if Δ t≤x_i, phase place PH1 to be coordinated is run to Min_ph1, phase place green light leads to Row power switches to non-coordinating phase place PH2, gives non-coordinating phase place PH2 green time to Min_ph2； Phase place green light right-of-way switches to non-coordinating phase place PH3, when giving non-coordinating phase place PH3 green light Between to Min_ph3；Then phase place green light right-of-way switches to coordinate phase place PH1,；If Δ t > x_i, Phase place green light right-of-way is continually maintained in PH1；Δ t is offset_iRun to minimum away from all phase places Green time the differed from time, x_iThe average travelling in 1/4 section is travelled for coordinating the vehicle in phase place Time, Min_ph1、Min_ph2、Min_ph3When being respectively phase place PH1, PH2, PH3 minimum green light Between；

Step 4: judge whether crossing i is currently running non-coordinating phase place PH2, if it is, hold Row step 5；If it is not, then perform step 6；

Step 5: give non-coordinating phase place PH2 green time to Min_ph2, detect the non-association of phase place Whether phase modulation position PH3 has vehicle demand, if there being vehicle demand, phase place green light right-of-way switches To non-coordinating phase place PH3, operating procedure 6；Otherwise phase place green light right-of-way switches to coordinate phase Position PH1；

Step 6: give non-coordinating phase place PH3 green time to Min_ph3, phase place green light passes through Power switches to coordinate phase place PH1；

Step 7: judge whether crossing i is currently running coordination phase place PH1, if it is performs step Rapid 8；If otherwise performing step 9；

Step 8: phase place PH1 to be coordinated is run to Min_ph1, phase place green light right-of-way non-coordinating Phase place PH2, gives non-coordinating phase place PH2 green time to Min_ph2, then judge PH2 phase Position vehicle detection demand, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph2, Until Max '_ph2；If demand without vehicle, phase place green light right-of-way non-coordinating phase place PH3, give Give non-coordinating phase place PH3 green time to Min_ph3, then judge that PH3 phase place vehicle detection needs Ask, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph3, until Max '_ph3, If demand without vehicle, phase place green light right-of-way coordinates phase place PH1, Max '_ph2、Max′_ph3Point Not for phase place PH2 after adjusting, maximum green time performed by PH3；

Step 9: judge whether crossing i is currently running non-coordinating phase place PH2, if it is performs Step 10；If otherwise performing step 11；

Step 10: give non-coordinating phase place PH2 green time to Min_ph2, then judge PH2 Phase place vehicle detection demand, if be detected that there is vehicle demand, the run unit green prolongation time Ext_ph2, until Max '_ph2；If demand without vehicle, phase place green light right-of-way non-coordinating phase place PH3, gives non-coordinating phase place PH3 green time to Min_ph3, then judge PH3 phase place vehicle Detection demand, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph3, directly To Max '_ph3If, without vehicle demand, phase place green light right-of-way non-coordinating phase place PH1；

Step 11: give non-coordinating phase place PH3 green time to Min_ph3, then judge PH3 Phase place vehicle detection demand, if be detected that there is vehicle demand, the run unit green prolongation time Ext_ph3, until offset_i-Min_ph3If without vehicle demand, phase place green light right-of-way coordinates phase Position PH1.

Preferably, after coordination phase place is run at benchmark crossing, coordinate what crossing i specified at certain Moment t_iRunning the coordination phase place of crossing i, this specifies moment t_iDetermination method as follows:

t_i=offset_i～offset_i±k_i；

k_i=Min_ph2+Min_ph3。

Preferably, described minimum green time determines that method is as follows:

G_min=Max [G_{min v},G_{min p}]

G_{min v}=S_lagv+ht×Integer(L/S)

$G_{\min p}=S_{\mathrm{lagp}}+\frac{w}{v_p}-t_g$

Wherein: G_minFor phase place minimum green time；G_{min v}For motor vehicle minimum green time； G_{min p}For pedestrian's street crossing safety time；S_lagvThe delay time at stop is initiateed for vehicle；Ht is time headway； L is the wagon detector distance to stop line；S is that detector is to stop line interval the stopping of parking Following distance；S_lagpThe delay time at stop is initiateed for pedestrian；W is pedestrian's street crossing width；v_pFor pedestrian's mistake Street speed；t_gFor copper sulfate basic.

Preferably, described maximum green time determines that method is as follows:

G_max=Min [g_max,t_c]

$g_{\max }=(C-l)\frac{\mathrm{CV}}{\mathrm{CS}}$

$C=\frac{l}{1-\frac{\mathrm{CS}}{\mathrm{RS}\×0.9}}$

Wherein, G_maxFor phase place maximum green time；CV is key signal phase flow rate, and unit is / h；CS is the volume of traffic sum of key signal phase, and unit is /h；RS is with reference to total stream Amount, unit is /h；C is Cycle Length；L is the green light lost time of each cycle.

Preferably, Δ t=(Min_ph1-t_ph1+k_i)-offset_i

$x_i=\frac{{\mathrm{trip}}_i}{4}=\frac{l_i}{4v_i}$

l_iFor coordinating the crossing i distance away from crossing, upstream；v_iFor average speed；t_ph1For phase place The time that PH1 has run；trip_iFor coordinating the crossing i average hourage away from crossing, upstream；

${\mathrm{Max}}_{\mathrm{ph}2}^{\′}={\mathrm{Min}}_{\mathrm{ph}2}+\frac{{\mathrm{Max}}_{\mathrm{ph}2}}{J_i}({\mathrm{offset}}_i-k_i)$

${\mathrm{Max}}_{\mathrm{ph}3}^{\′}={\mathrm{Min}}_{\mathrm{ph}3}+\frac{{\mathrm{Max}}_{\mathrm{ph}3}}{J_i}({\mathrm{offset}}_i-k_i)$

J_i=Max_ph2+Max_ph3；

Max_ph2、Max_ph3It is respectively crossing i non-coordinating phase place PH2, the maximum green time of PH3, Maximum green time refers to accessible maximum time value when phase time extends.

Preferably, unit green prolongation time E_xtThe method of determination is:

E_xt=ko × Max [p_t,ht]

p_t=L/v_i

Ht is time headway；L is the wagon detector distance to stop line, v_iFor average speed, So p_tFor vehicle from the time being detected by stop line；k₀For weight coefficient.

Beneficial effects of the present invention:

1) on the basis of tradition signal coordination control, the green wave band bandwidth between crossing two-by-two is increased；

2) provide effective green time utilization rate, increase and coordinate section public green wave band width；

3) vehicle queue is reduced, it is provided that road passage capability.

Accompanying drawing explanation

Fig. 1 is overall flow figure of the present invention.

Detailed description of the invention

The premise of signal coordination control is that each crossing cycle of operation coordinated in control range is identical, institute With, the Split Optimization method proposed in this method utilizes the split under sensing control model excellent Change principle, and under certain fixed cycle, carry out Split Optimization.

Under on-line coordination control model, when coordination phase place is the operation in certain crossing with this phase place Carving and participate in calculating the phase difference value in signal coordination control, non-coordinating phase place is coordination phase in crossing Other all phase places beyond Wei, after coordination phase place is run at benchmark crossing, coordinate crossing i at certain The individual moment t specified_iRunning the coordination phase place of crossing i, this specifies moment t_iDetermination method as follows:

t_i=offset_i～offset_i±k_i

$k_i={\mathrm{Min}}_{i2}+{\mathrm{Min}}_{i3}+...+{\mathrm{Min}}_{\mathrm{in}}=\underset{j=2}{\overset{n}{\mathrm{\Σ}}}{\mathrm{Min}}_{\mathrm{ij}}$

$J_i={\mathrm{Max}}_{i2}+{\mathrm{Max}}_{i3}+...+{\mathrm{Max}}_{\mathrm{in}}=\underset{j=2}{\overset{n}{\mathrm{\Σ}}}{\mathrm{Max}}_{\mathrm{ij}}$

offset_iPhase difference value is optimized for crossing i；

Min_inMinimum for crossing i non-coordinating phase place n is green；

Max_inMaximum for crossing i non-coordinating phase place n is green.

Optimization process:

The cycle of operation assuming signal coordination control crossing is T, crossing i have 3 phase places PH1, PH2, PH3, wherein PH1 is for coordinating phase place, and phase sequence is PH1-PH2-PH3-PH1, optimizes mould Formula performs according to sensing control model.

During optimizing, non-coordinating phase place PH2, PH3 not control as traditional green wave band Mono-fixing duration of Shi Yunhang, but optimal way when operating in similar sensing control model Under.If non-coordinating phase place PH2, PH3 run long green light time and are all not up to the maximum of this phase place The green time, then the green time saved all is distributed to coordinate phase place and performed so that crossing exists Bigger green wave band width is obtained during signal coordination control.

Under this kind of coodination modes, there is problems of when coordination phase place is run at benchmark crossing, Coordinate crossing and should run the coordination phase place at this crossing in the offset optimization moment specified, if It is carrying out non-coordinating phase place at this crossing of appointment moment of offset optimization, now forces Switch to coordinate phase place operation and can bring certain disturbance to traffic signals, easily cause traffic to gather around The stifled generation with traffic accident.In order to solve this problem, introduce the optimum error system of crossing i Number k_i.As it is shown in figure 1, benchmark crossing is run after coordinating phase place, the offset at given crossing of system_i Value, and judge offset_iAnd k_iRelation, if offset_i≤k_i, coordinate crossing according to performing each phase The minimum green mode in position is run or right-of-way rests on coordination phase place, and it depends on coordinating phase Position is away from performing offset_iWhether time institute's difference is more than the average hourage in 1/4 section.Excellent Change step as follows:

Step 1: benchmark crossing brings into operation and coordinates phase place PH1, if offset_i≤k_i, then hold Row step 2；If offset_i>k_i, then step 7 is performed；Wherein offset_iFor coordinating crossing i phase place Difference optimal value, k_iOptimum error coefficient for crossing i；

Step 2: judge whether crossing i is currently running coordination phase place PH1, if it is, perform Step 3；If not, then step 4 is performed；

Step 3: if Δ t≤x_i, phase place PH1 to be coordinated is run to Min_ph1, phase place green light leads to Row power switches to non-coordinating phase place PH2, gives non-coordinating phase place PH2 green time to Min_ph2； Phase place green light right-of-way switches to non-coordinating phase place PH3, when giving non-coordinating phase place PH3 green light Between to Min_ph3；Then phase place green light right-of-way switches to coordinate phase place PH1,；If Δ t > x_i, Phase place green light right-of-way is continually maintained in PH1；Δ t is offset_iRun to minimum away from all phase places Green time the differed from time, x_iThe average travelling in 1/4 section is travelled for coordinating the vehicle in phase place Time, Min_ph1、Min_ph2、Min_ph3When being respectively phase place PH1, PH2, PH3 minimum green light Between；

Step 4: judge whether crossing i is currently running non-coordinating phase place PH2, if it is, hold Row step 5；If it is not, then perform step 6；

Step 5: give non-coordinating phase place PH2 green time to Min_ph2, detect the non-association of phase place Whether phase modulation position PH3 has vehicle demand, if there being vehicle demand, phase place green light right-of-way switches To non-coordinating phase place PH3, operating procedure 6；Otherwise phase place green light right-of-way switches to coordinate phase Position PH1；

Step 6: give non-coordinating phase place PH3 green time to Min_ph3, phase place green light passes through Power switches to coordinate phase place PH1；

Step 7: judge whether crossing i is currently running coordination phase place PH1, if it is performs step Rapid 8；If otherwise performing step 9；

Step 8: phase place PH1 to be coordinated is run to Min_ph1, phase place green light right-of-way non-coordinating Phase place PH2, gives non-coordinating phase place PH2 green time to Min_ph2, then judge PH2 phase Position vehicle detection demand, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph2, Until Max '_ph2；If demand without vehicle, phase place green light right-of-way non-coordinating phase place PH3, give Give non-coordinating phase place PH3 green time to Min_ph3, then judge that PH3 phase place vehicle detection needs Ask, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph3, until Max '_ph3, If demand without vehicle, phase place green light right-of-way coordinates phase place PH1, Max '_ph2、Max′_ph3Point Not for phase place PH2 after adjusting, maximum green time performed by PH3；

Step 9: judge whether crossing i is currently running non-coordinating phase place PH2, if it is performs Step 10；If otherwise performing step 11；

Step 10: give non-coordinating phase place PH2 green time to Min_ph2, then judge PH2 Phase place vehicle detection demand, if be detected that there is vehicle demand, the run unit green prolongation time Ext_ph2, until Max '_ph2；If demand without vehicle, phase place green light right-of-way non-coordinating phase place PH3, gives non-coordinating phase place PH3 green time to Min_ph3, then judge PH3 phase place vehicle Detection demand, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph3, directly To Max '_ph3If, without vehicle demand, phase place green light right-of-way non-coordinating phase place PH1；

Step 11: give non-coordinating phase place PH3 green time to Min_ph3, then judge PH3 Phase place vehicle detection demand, if be detected that there is vehicle demand, the run unit green prolongation time Ext_ph3, until offset_i-Min_ph3If without vehicle demand, phase place green light right-of-way coordinates phase Position PH1.

Wherein:

Δ t=(Min_ph1-t_ph1+k_i)-offset_i

$x_i=\frac{{\mathrm{trip}}_i}{4}=\frac{l_i}{4v_i}$

l_iFor coordinating the crossing i distance away from crossing, upstream；v_iFor average speed.

${\mathrm{Max}}_{\mathrm{ph}2}^{\′}={\mathrm{Min}}_{\mathrm{ph}2}+\frac{{\mathrm{Max}}_{\mathrm{ph}2}}{J_i}({\mathrm{offset}}_i-k_i)$

${\mathrm{Max}}_{\mathrm{ph}3}^{\′}={\mathrm{Min}}_{\mathrm{ph}3}+\frac{{\mathrm{Max}}_{\mathrm{ph}3}}{J_i}({\mathrm{offset}}_i-k_i)$

The minimum green time determines method:

The control theory that the present invention is taked is implemented based on sensing control model, coupling system Convenience, so, Loop detector layout position is arranged on before stop line in the range of 2-20 rice.

Minimum green time determines that method is as follows:

G_miN=Max [G_{min v},G_{min p}]

G_{min v}=S_lagv+ht×Integer(L/S)

$G_{\min p}=S_{\mathrm{lagp}}+\frac{w}{v_p}-t_g$

Wherein: G_minPhase place minimum green time；G_{min v}For motor vehicle minimum green time；G_{min p} For pedestrian's street crossing safety time；S_lagvDelay time at stop, general value 4 seconds is initiateed for vehicle；Ht is Time headway, the general value 2-3 second；L is the wagon detector distance to stop line；S is Detector is to the parking space in stop line parking interval, general value 5-6 rice；S_lagpFor pedestrian The initial delay time at stop, general value 5 seconds；W is pedestrian's street crossing width；v_pFor pedestrian's street crossing speed Degree；t_gFor copper sulfate basic.

The maximum green time determines method:

G_max=Min [g_max,t_c]

$g_{\max }=(C-l)\frac{\mathrm{CV}}{\mathrm{CS}}$

$C=\frac{l}{1-\frac{\mathrm{CS}}{\mathrm{RS}\×0.9}}$

CV is key signal phase flow rate, and unit is /h；CS be key signal phase the volume of traffic it With, unit it is /h；RS is with reference to total flow, and unit is /h；C is Cycle Length, When calculating Cycle Length, RS is carried out the coefficient weighting of 0.9, its objective is all of Crucial traffic flow takes the available traffic capacity of 90%；L is the green light lost time of each cycle.

When calculating maximum green time, coordinate phase place value and press g_maxCalculated value, in each cycle In, coordinate the passed through vehicle number of phase place and be designated as N_tv, it is known that, within the cycle, coordinate phase place vehicle Percent of pass is N_tv/S_v, S_vBy the saturated magnitude of traffic flow of analysis track group.In order to make coordination phase Position and non-coordinating phase place reach the equilibrium of the vehicle percent of pass in the cycle, and non-coordinating phase calculation is During big green time, take g_maxAnd t_cMinimum of a value, t_cVehicle percent of pass for non-coordinating phase place reaches To N_tv/S_vTime required during value.The maximum calculating non-coordinating phase place in this manner is green The lamp time, comparing traditional maximum green time computational methods, the method can equalize in road network Vehicle distribution, improve the road passage capability of whole signalized intersections, especially non-coordinating phase When the magnitude of traffic flow of the different directions in Wei is the most reciprocity, the method can save green time. The unit green prolongation time determines method:

When unit green extension is carried out value, need to examine detector to stop line away from From and Vehicle Speed, to ensure that the vehicle that is detected has enough after obtaining right-of-way Time by stop line, so, the position of detector is difficult to long, in order to improve laying Feasibility and exploitativeness, in the range of the design attitude to detector is 2-20 rice herein, as Fruit is by 20 meters of calculating, and minimum average speed is based on 6 meter per seconds, and vehicle is from being detected by stopping The time of fare is 3.3 seconds, and unit green extension should be not less than this time, meanwhile, single Position green time should be not less than saturation headway.If the flow rate in certain track by 1200/ Hour calculate, average headway is 3600/1200, is 3 seconds, the same vehicle of its calculated value Approximated by the time value of stop line from being detected, so, herein unit green light is being extended During time value, take the maximum of the two, be then multiplied by weight coefficient, to ensure vehicle pass-through Efficiency.

E=k₀×Max[p_t,ht]

p_t=L/v_i

Ht is time headway, the general value 2-3 second；L be wagon detector to stop line away from From, v_iFor average speed, so p_tFor vehicle from the time being detected by stop line；k₀ Depending on road traffic characteristic, general urban road flat peak period value 1.1.

Claims (6)

1. intersection signal based on sensing control model is coordinated to control optimization method, it is characterised in that include as follows Step:

Step 1: benchmark crossing brings into operation and coordinates phase place PH1, if offset_i≤k_i, then step 2 is performed；If offset_i>k_i, then step 7 is performed；Wherein offset_iFor coordinating crossing i offset optimization value, k_iFor crossing i's Optimum error coefficient；

Step 2: judge whether crossing i is currently running coordination phase place PH1, if it is, perform step 3；If not, Then perform step 4；

Step 3: if Δ t≤x_i, phase place PH1 to be coordinated is run to Min_ph1, phase place green light right-of-way switches to non- Coordinate phase place PH2, give non-coordinating phase place PH2 green time to Min_ph2；Phase place green light right-of-way switches To non-coordinating phase place PH3, give non-coordinating phase place PH3 green time to Min_ph3；Then phase place green light leads to Row power switches to coordinate phase place PH1；If Δ t > x_i, phase place green light right-of-way is continually maintained in PH1；Δt For offset_iRun to minimum green time differed from time, x away from all phase places_iTravel for coordinating the vehicle in phase place The average hourage in 1/4 section, Min_ph1、Min_ph2、Min_ph3It is respectively phase place PH1, PH2, PH3 Minimum green time；

Step 4: judge whether crossing i is currently running non-coordinating phase place PH2, if it is, perform step 5；As The most no, then perform step 6；

Step 5: give non-coordinating phase place PH2 green time to Min_ph2, detection phase place non-coordinating phase place PH3 is No have vehicle demand, if there being vehicle demand, phase place green light right-of-way switches to non-coordinating phase place PH3, runs Step 6；Otherwise phase place green light right-of-way switches to coordinate phase place PH1；

Step 6: give non-coordinating phase place PH3 green time to Min_ph3, phase place green light right-of-way switches to coordinate Phase place PH1；

Step 7: judge whether crossing i is currently running coordination phase place PH1, if it is performs step 8；If not Then perform step 9；

Step 8: phase place PH1 to be coordinated is run to Min_ph1, phase place green light right-of-way switches to non-coordinating phase place PH2, Give non-coordinating phase place PH2 green time to Min_ph2, then judge PH2 phase place vehicle detection demand, as Fruit has detected vehicle demand, run unit green prolongation time Ext_ph2, until Max '_ph2；If without vehicle Demand, phase place green light right-of-way switches to non-coordinating phase place PH3, gives non-coordinating phase place PH3 green time To Min_ph3, then judge PH3 phase place vehicle detection demand, if be detected that there is vehicle demand, run single The green prolongation time Ext in position_ph3, until Max '_ph3If without vehicle demand, phase place green light right-of-way coordinates phase Position PH1, Max '_ph2、Max′_ph3Phase place PH2 after respectively adjusting, the maximum green light performed by PH3 Time；

Step 9: judge whether crossing i is currently running non-coordinating phase place PH2, if it is performs step 10；If Otherwise perform step 11；

Step 10: give non-coordinating phase place PH2 green time to Min_ph2, then judge PH2 phase place vehicle detection Demand, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph2, until Max '_ph2；As Fruit is without vehicle demand, and phase place green light right-of-way switches to non-coordinating phase place PH3, gives non-coordinating phase place PH3 Green time is to Min_ph3, then judge PH3 phase place vehicle detection demand, if be detected that there is vehicle demand, Run unit green prolongation time Ext_ph3, until Max '_ph3If, without vehicle demand, phase place green light right-of-way Switch to non-coordinating phase place PH3；

Step 11: give non-coordinating phase place PH3 green time to Min_ph3, then judge PH3 phase place vehicle detection Demand, if be detected that there is vehicle demand, run unit green prolongation time Ext_ph3, until offset_i-Min_ph3, If demand without vehicle, phase place green light right-of-way switches to coordinate phase place PH1.

Method the most according to claim 1, it is characterised in that after coordination phase place is run at benchmark crossing, association Adjust crossing i at the moment t that certain is specified_iRunning the coordination phase place of crossing i, this specifies moment t_iDetermination method As follows:

t_i=offset_i～offset_i±k_i；

k_i=Min_ph2+Min_ph3。

Method the most according to claim 2, it is characterised in that described minimum green time determines that method is as follows: G_min=Max [G_{min v},G_{min p}]

G_{min v}=S_lagv+ht×Integer(L/S)

$G_{\min p}=S_{lagp}+\frac{w}{v_p}-t_g$

Wherein: G_minFor phase place minimum green time；G_{min v}For motor vehicle minimum green time；G_{min p}For pedestrian's mistake Street safety time；S_lagvThe delay time at stop is initiateed for vehicle；Ht is time headway；L is that wagon detector arrives parking The distance of line；S is the detector parking space to stop line parking interval；S_lagpThe delay time at stop is initiateed for pedestrian； W is pedestrian's street crossing width；v_pFor pedestrian crossing speed；t_gFor copper sulfate basic.

Method the most according to claim 3, it is characterised in that described maximum green time determines that method is as follows: G_max=Min [g_max,t_c]

$g_{max}=(C-l)\frac{CV}{CS}$

$C=\frac{l}{1-\frac{CS}{RS\×0.9}}$

Wherein, G_maxFor phase place maximum green time；CV is key signal phase flow rate, and unit is /h；CS is crucial The volume of traffic sum of phase place, unit is /h；RS is with reference to total flow, and unit is /h；C is Cycle Length； L is the green light lost time of each cycle.

Method the most according to claim 4, it is characterised in that

Δ t=(Min_ph1-t_ph1+k_i)-offset_i

$x_i=\frac{{\mathrm{trip}}_i}{4}=\frac{l_i}{4v_i}$

l_iFor coordinating the crossing i distance away from crossing, upstream；v_iFor average speed；t_ph1For phase place PH1 run time Between；trip_iFor coordinating the crossing i average hourage away from crossing, upstream；

${\mathrm{Max}}_{ph2}^{\′}={\mathrm{Min}}_{ph2}+\frac{{\mathrm{Max}}_{ph2}}{J_i}({\mathrm{offset}}_i-k_i)$

${\mathrm{Max}}_{ph3}^{\′}={\mathrm{Min}}_{ph3}+\frac{{\mathrm{Max}}_{ph3}}{J_i}({\mathrm{offset}}_i-k_i)$

J_i=Max_ph2+Max_ph3；

Max_ph2、Max_ph3It is respectively crossing i non-coordinating phase place PH2, the maximum green time of PH3, maximum green light Time refers to accessible maximum time value when phase time extends.

Method the most according to claim 5, it is characterised in that unit green prolongation time E_xtThe method of determination is:

E_xt=k₀×Max[p_t,ht]

p_t=L/v_i

Ht is time headway；L is the wagon detector distance to stop line, v_iFor average speed, so p_tFor vehicle From the time being detected by stop line；k₀For weight coefficient.