CN104408948A - Vehicle-mounted-GPS-based public transport priority signal control method of urban road traffic - Google Patents
Vehicle-mounted-GPS-based public transport priority signal control method of urban road traffic Download PDFInfo
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- CN104408948A CN104408948A CN201410603952.2A CN201410603952A CN104408948A CN 104408948 A CN104408948 A CN 104408948A CN 201410603952 A CN201410603952 A CN 201410603952A CN 104408948 A CN104408948 A CN 104408948A
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention provides a vehicle-mounted-GPS-based public transport priority signal control method of the urban road traffic. A vehicle-mounted GPS positioning system is installed at a bus. When the bus approaches an intersection, the vehicle-mounted GPS positioning system sends a verification data signal to a traffic command center; the traffic command center carries out communication with a front-end intersection signal machine and a traffic signal lamp at the intersection is controlled to be changed so as to realize public transport priority passing control. To be specific, (1), the green light time is prolonged; when the green light time at the intersection is coming to the end, the green light time at the marching direction is increased, so that the incoming bus can pass through the intersection; and (2), the red light time is interrupted or priority passing is called for; for the bus arriving at the red light phase, the existing red light is switched after the shortest green light time of the current red light phase and thus the bus priority green light is turned on in advance. Therefore, the bus operation speed is effectively accelerated; the bus route time is reduced practically; and the overall impact on other traffic flow is low.
Description
Technical field
The present invention relates to a kind of urban public transport signal control method, specifically, relate to a kind of public transport priority signal control method.
Background technology
Urban road is as the carrier of the magnitude of traffic flow, and its current conevying efficiency determines the choice for traveling of people to a great extent.Specify that in China's " national economy and social development the 12 five-year-plan outline " " implementing public transport priority strategy; greatly develop urban public tranlport system ", and propose " completed region of the city public transport all standing " to include national basic public services system in, first Public Transport Priority Development strategy is risen to national strategy.
Because public transit vehicle handling capacity of passengers is large, public vehicles handling capacity of passengers is little, and it is inappropriate for obviously putting two kinds of vehicles in identical status.The development that public traffic in priority is conducive to public transport is implemented in city, encourages citizen to take public transport trip, meets the developing direction of urban development and environment facies harmony.Because public traffic in priority can solve the trip problem of most people, simultaneously because public transit system is to the low occupation rate of resource, and the path resource that can reduce per capita occupies and discharges with decreasing pollution.
In view of the quickening of current urban development paces, public vehicles increase, and road construction is frequent, delay the current of public transit vehicle greatly, vast public transport participant are abandoned and takes city bus, cause the waste of resource.The construction of urban road simultaneously, cause crossing many, red light is many, and the vehicle stand-by period is long, also delays public transit vehicle greatly and passes through, and passenger is difficult to the travel time control.
In order to meet the requirement of safety, environmental protection, trip fast, the priority of public transit vehicle is improved, incuring loss through delay with the crossing reduced per capita in the stand-by period at crossing by reducing public transit vehicle, improving public transit vehicle efficiency of operation, meet the travel requirement of people, should be practicable.At present, about the research of this respect, person skilled is carrying out useful exploration always.
Summary of the invention
The present invention is directed to prior art Problems existing, propose a kind of urban highway traffic public transport priority signal control method based on vehicle GPS, effectively will improve mass transportation facilities overall trip speed and path resource utilization factor.
To achieve these goals, the technical solution adopted in the present invention is:
In crossroads traffic light right of way signal control program, with public transport wagon flow, the speed of a motor vehicle for control objectives, improve the priority of public transit vehicle, control whole regional traffic and realize public transit vehicle unblockedly by each crossing, and traffic control strategy and parameter calculating are set accordingly, and be applied in the control of traffic lights and show, reduce the stand-by period of public transit vehicle at crossing.
A kind of urban highway traffic public transport priority signal control method based on vehicle GPS, public transit vehicle is installed vehicle GPS positioning system, when public transit vehicle distance 100-150m place, crossing, front end, described vehicle GPS positioning system sends checking data signal to traffic control center; When public transit vehicle travels to 50-80m place, crossing from the front end, described vehicle GPS positioning system sends once school inspection data-signal again to traffic control center, the whistle control system of described traffic control center is by communicating with front end intersection annunciator, information and current signal phase situation is arrived in conjunction with vehicle, control crossroad traffic signal lamp changes, and carries out Bus Priority control:
1) extend green time or extend priority pass: when crossing green light closes to an end, if by the vehicle GPS positioning system in public transport, the whistle control system of traffic control center detects that this section still has public transit vehicle to be about to pass through crossing, then extend the green time of this direct of travel, make the public transport being about to arrival that this time expand can be utilized to pass through crossing; If exceed the maximum green extension that this crossing arranges, public transit vehicle is about to by crossing, then stop the green time of this direct of travel, allow after passing through the vehicle in direction, this bus just by;
2) cut-out red time or call priority pass through: to the public transit vehicle arrived in red light phase place, in current green light phase place after Minimum Green Time, immediately existing red light is switched, open public traffic in priority green light in advance and pass through, to improve mass transportation facilities overall trip speed in order to public transport.
Based on above-mentioned, green extension, judged according to the distance between the vehicle location of the vehicle GPS positioning system location on bus and stop line and bus speed by traffic control center; If a public transport is when the tail end of green light phase place arrives, then continues green time and pass through intersection to this public transit vehicle.
Based on above-mentioned, adopt rule-based public traffic in priority algorithm model, according to the queue length of public transit vehicle, lane occupancy ratio, flow, setting flow adjusting range, speed, setting speed adjusting range, determines green extension according to formula (1)
w＝f(a)*a1+f1(d)*d1+f2(s)s1+b-c (1)
In formula, w is green extension, and f, f1, f2 represent a kind of linear relationship; A is flow adjusting range parameter, and d is lane occupancy ratio adjusting range parameter, and s is bus speed adjustment parameter, and a1, d1, s1 are adjustment weight, and c is current green time, and b is constant parameter.
Based on above-mentioned, according to the actual conditions of China's mixed traffic and the uncertainty of the magnitude of traffic flow,
Adopt FUZZY ALGORITHMS FOR CONTROL model, predict the magnitude of traffic flow of certain section a certain period;
Described FUZZY ALGORITHMS FOR CONTROL model, adopts the number of chaotic optimization algorithm determination hidden layer wavelet basis, adopts formula (2) to calculate the predicting traffic flow amount of certain section (t+1) period:
v(t+1)＝F(v(t)，v
d(t)，v
u(t)，v
last) (2)
In formula, F represents a kind of nonlinear function; v
d(t), v
ut () is respectively the magnitude of traffic flow in section, t period upstream and downstream, predicted section; v
lastfor one week same workaday same period magnitude of traffic flow on prediction section.
Based on above-mentioned, FUZZY ALGORITHMS FOR CONTROL is adopted according to historical traffic, the adjustment traffic signal control system teleseme cycle of operation: according to 5 ~ 10 minutes vehicle flowrates and occupation rate data in history, historical traffic data before compares, revise the magnitude of traffic flow and occupation rate data, vehicle flowrate and occupation rate data are brought into fuzzy control model, calculates the traffic signaling equipment next cycle of operation;
Its cycle length of the described cycle of operation, wc calculated according to formula (3):
wc＝F(I，V,O)+d (3)
In formula, F represents a kind of nonlinear relationship; I is the effectiveness parameter in wagon flow five minutes, and V is flow, and d is constant coefficient; O is occupation rate;
Described FUZZY ALGORITHMS FOR CONTROL model is:
I＝aV+b·max(O-c,0)+d (4)
In formula, wagon flow effectiveness parameter is I, and flow is V, and occupation rate is O, and vehicle flowrate coefficient is a, and occupation rate coefficient is b, and calibration occupation rate is c, and constant coefficient is d.
Based on above-mentioned, by traffic flow data pre-service, remove some abnormal data, misdata, and supplement the data of losing, allow traffic flow data more meet reality; Described traffic flow data preprocessing process comprises: the identifying of traffic data mistake; To the makeover process of misdata, supplementing missing data; And the filter process to traffic data abnormal data.
Based on above-mentioned, according to each intersection vehicle flux situation, and the vehicle flowrate situation of crossing Different periods, by arranging Different periods, adopt public traffic in priority period configuration.
The useful good effect of invention:
1, the present invention is based on the urban highway traffic public transport priority signal control method of vehicle GPS, use the relations of distribution by the right of way adjusting mass transportation facilities and other public vehicles and strengthen Bus Priority signal system and manage, effectively can improve mass transportation facilities overall trip speed and path resource utilization factor.Bus signals is preferential, is the fine setting carrying out local under the state normally worked at roadway sign, relatively passes through crossing to other vehicle higher priority to realize public transit vehicle.Little to the general impacts of other wagon flow.
2, the present invention is based on the urban highway traffic public transport priority signal control method of vehicle GPS, technical conceive is careful, and design proposal is reasonable, can conscientiously reduce common line journey time, reduces utility car intersection and incurs loss through delay; By artificial intelligence control algorithm and take data-optimized measure, decrease utility car stop frequency, improve utility car roadability and accuracy rate, improve bus service level; Vehicle energy consumption, manpower and vehicle equipment can be reduced.Because the security of bus trip is higher, in addition bus trip is faster, more convenient, the consciousness that citizen take public transport trip must be aroused, like this then more path resource can be discharged, the path resource reduced per capita occupies and decreasing pollution discharge, meets the developing direction of urban development and environment facies harmony.
3, the present invention is based on the urban highway traffic public transport priority signal control method of vehicle GPS, take into full account the wagon flow situation of public vehicles and adjacent intersection, adopt the FUZZY ALGORITHMS FOR CONTROL model improved, can predicting traffic flow amount and signal period accurately, give full play to the benefit of path resource.And most of Bus Priority signal control method before, larger to crossing public transit vehicle right of access, consider deficiency as a whole, the queuing of public vehicles may be caused so long, the current smoothly of public transit vehicle can be affected on the contrary, the current of adjacent intersection vehicle can be affected; Do not reach the Expected Results that Bus Priority controls.
Accompanying drawing explanation
Fig. 1 is that public transport priority signal control method of the present invention extends green time control program schematic diagram.
Fig. 2 is that public transport priority signal control method cut-out red time control program schematic diagram is led in the present invention.
Fig. 3 is public transport priority signal control method detector location schematic diagram of the present invention.
Fig. 4 is the short-term traffic flow forecasting model structure schematic diagram of public transport priority signal control method of the present invention based on chaos wavelet network.
Fig. 5 is the data-optimized process flow diagram of public transport priority signal control method vehicle flowrate of the present invention.
Fig. 6 is public transport priority signal control method traffic data pre-service block diagram of the present invention.
Fig. 7 is public transport priority signal control method traffic data pretreatment process figure of the present invention.
Embodiment
Below by embodiment, technical scheme of the present invention is described in further detail.
Embodiment 1
The present invention is based on the urban highway traffic public transport priority signal control method of vehicle GPS, public transit vehicle is installed vehicle GPS positioning system, when public transit vehicle distance 100-150m place, crossing, front end, described vehicle GPS positioning system sends checking data signal to traffic control center; When public transit vehicle travels to 50-80m place, crossing from the front end, described vehicle GPS positioning system sends once school inspection data-signal again to traffic control center, the whistle control system of described traffic control center is by communicating with front end intersection annunciator, information and current signal phase situation is arrived in conjunction with vehicle, control crossroad traffic signal lamp changes, and carries out Bus Priority control:
1) extend green time or extend priority pass: when crossing green light closes to an end, if by the vehicle GPS positioning system in public transport, the whistle control system of traffic control center detects that this section still has public transit vehicle to be about to pass through crossing, then extend the green time of this direct of travel, make the public transport being about to arrival that this time expand can be utilized to pass through crossing; If exceed the maximum green extension that this crossing arranges, public transit vehicle is about to by crossing, then stop the green time of this direct of travel, allow after passing through the vehicle in direction, this bus just by.
2) cut-out red time or call priority pass through: to the public transit vehicle arrived in red light phase place, in current green light phase place after Minimum Green Time, immediately existing red light is switched, open public traffic in priority green light in advance to pass through in order to public transport, to improve mass transportation facilities overall trip speed, reduce the crossing delay time at stop.
Embodiment 2
See Fig. 1, Fig. 2.The urban highway traffic public transport priority signal control method based on vehicle GPS of the present embodiment, it is characterized in that: green extension, judged according to the distance between the vehicle location of the vehicle GPS positioning system location on bus and stop line and bus speed by traffic control center; If a public transport is when the tail end of green light phase place arrives, then continues green time and pass through intersection to this public transit vehicle.
Embodiment 3
See Fig. 1, Fig. 2, Fig. 3.The urban highway traffic public transport priority signal control method based on vehicle GPS of the present embodiment, with embodiment 2 further unlike: as shown in Figure 3, by the vehicle GPS positioning system of installing on bus, detect the vehicle flowrate signal at crossing, car speed, the queue length of vehicle and lane occupancy ratio signal, then rule-based public traffic in priority algorithm model is adopted, according to the queue length of public transit vehicle, lane occupancy ratio, flow, setting flow adjusting range, speed, setting speed adjusting range, determines green extension according to formula (1)
w＝f(a)*a1+f1(d)*d1+f2(s)s1+b-c (1)
In formula, w is green extension, and f, f1, f2 represent a kind of linear relationship; A is flow adjusting range parameter, and d is lane occupancy ratio adjusting range parameter, and s is bus speed adjustment parameter, and a1, d1, s1 are adjustment weight, and c is current green time, and b is constant parameter.
Example: if crossing has 10 buses to queue up, can set adjusting range is 1/second, and car speed is 20km/s, and such public transport priority signal control center of the present invention just can ensure 8 second green extension, to ensure that these 10 buses are by this crossing.
Embodiment 4
See Fig. 1 ~ Fig. 4.The present embodiment is based on the urban highway traffic public transport priority signal control method of vehicle GPS, it is characterized in that: according to the actual conditions of China's mixed traffic and the uncertainty of the magnitude of traffic flow, adopt FUZZY ALGORITHMS FOR CONTROL model, predict the magnitude of traffic flow of certain section a certain period;
FUZZY ALGORITHMS FOR CONTROL model, adopts the number of chaotic optimization algorithm determination hidden layer wavelet basis, adopts formula (2) to calculate the predicting traffic flow amount of certain section (t+1) period:
v(t+1)＝F(v(t),v
d(t),v
u(t),v
last) (2)
In formula, F represents a kind of nonlinear function; v
d(t), v
ut () is respectively the magnitude of traffic flow in section, t period upstream and downstream, predicted section; v
lastfor one week same workaday same period magnitude of traffic flow on prediction section.
Predicting traffic flow amount can adopt the wavelet network forecast model of optimization to determine to meet the number of the best wavelet that precision of prediction requires.The determination of network hidden layer wavelet basis number is the experience depending on deviser at present substantially, or adopts the detection method increasing progressively, successively decrease, and when network structure is comparatively complicated, when wavelet basis number is more, these class methods are difficult to reach optimum efficiency.Therefore, the present invention adopts FUZZY ALGORITHMS FOR CONTROL model, predicts the magnitude of traffic flow of certain section a certain period.
Chaos is a kind of comparatively general phenomenon be present in nonlinear system, and chaotic motion has the feature such as ergodicity, randomness, " regularity ".Chaotic motion can repeatedly not travel through all states by himself " rule " within the specific limits.Application of chaos variable is optimized search, can have more superiority undoubtedly than random search.Chaos optimization method has been used successfully to the training of neural network weight and threshold value, the number of the chaotic optimization algorithm determination hidden layer wavelet basis that this project application improves.
Choosing of forecast model influence factor.Research shows, in urban road network, on traffic section, the traffic flow parameter in certain moment is relevant with the traffic flow parameter of several period before this section, and is subject to the impact of its upstream and downstream road section traffic volume situation.Meanwhile, traffic flow has the characteristic on working day quasi-periodicity of 7 days.Therefore, for improving precision of prediction, this project proposes the Forecasting Methodology of a kind of similar period, for traffic volume forecast, applies upper one week same workaday same period volume of traffic v
last, the prediction volume of traffic of section last period and the traffic data of upstream and downstream section last period prediction specific road section the volume of traffic.
Embodiment 5
See Fig. 1 ~ Fig. 5.The urban highway traffic public transport priority signal control method based on vehicle GPS of the present embodiment, difference from Example 4 is: adopt FUZZY ALGORITHMS FOR CONTROL according to historical traffic, the adjustment traffic signal control system teleseme cycle of operation: according to 5 ~ 10 minutes vehicle flowrates and occupation rate data in history, historical traffic data before compares, revise the magnitude of traffic flow and occupation rate data, vehicle flowrate and occupation rate data are brought into fuzzy control model, calculates the traffic signaling equipment next cycle of operation;
Its cycle length of the described cycle of operation, wc calculated according to formula (3):
wc＝F(I，V,O)+d (3)
In formula, F represents a kind of nonlinear relationship; I is the effectiveness parameter in wagon flow five minutes, and V is flow, and d is constant coefficient; O is occupation rate;
Described FUZZY ALGORITHMS FOR CONTROL model is:
I＝aV+b·max(O-c,0)+d (4)
In formula, wagon flow effectiveness parameter is I, and flow is V, and occupation rate is O, and vehicle flowrate coefficient is a, and occupation rate coefficient is b, and calibration occupation rate is c, and constant coefficient is d.
For example, effectiveness parameter coefficient (the flow upper limit, flux lower limit are arranged to wagon flow, coefficient of flow, occupation rate coefficient, calibration occupation rate, constant coefficient) be (0,35,1,0,0,0), then when this wagon flow five minutes flows are interval [0,35), time interior, effectiveness parameter is:
I=1V+0max (O-0,0)+0=V, the saturation volume rate in effectiveness parameter coefficient is used for computation period.
Embodiment 6
See Fig. 1 ~ Fig. 7.The urban highway traffic public transport priority signal control method based on vehicle GPS of the present embodiment, be with the difference of embodiment 5: by traffic flow data pre-service, remove some abnormal data, misdata, and supplement the data of losing, allow traffic flow data more meet reality; Described traffic flow data preprocessing process comprises: the identifying of traffic data mistake; To the makeover process of misdata, supplementing missing data; And the filter process to traffic data abnormal data.
In the data-optimized processing procedure of bus, the quality of traffic model input data has very important effect for the validity of model.The traffic data collected from real road traffic system all inevitably also exists fault, in order to ensure the result of use of traffic model, the present invention is directed to traffic detector data possibility produced problem, proposing the pretreated algorithm of this traffic data.
The present invention is based on the urban highway traffic public transport priority signal control method of vehicle GPS, according to each intersection vehicle flux situation, and the vehicle flowrate situation of crossing Different periods, by arranging Different periods, public traffic in priority period configuration can be adopted.The public traffic in priority period is arranged, can according to each intersection vehicle flux situation, and Different periods vehicle flowrate is different, and typical crossing is divided into morning peak, evening peak in one day, early flat peak, late flat peak, peak at the bottom of night.By arranging Different periods, determine whether to adopt public traffic in priority.
Following table record B2 bus is before enforcement public traffic in priority and afterwards by the difference at crossing:
As can be seen from the above table, B2 bus uses 10 minutes than few before preferential after crossing priority in upper table, decreases B2 bus at crossing stop frequency.Its result necessarily can reduce the pollution of vehicle exhaust to environment, conscientiously facilitates citizen to go on a journey fast.
In a word, the present invention is based on the enforcement of the urban highway traffic public transport priority signal control method of vehicle GPS, bus trip can be made more quick and easy, contribute to arousing the masses of the people and consciously take public transport trip, solve the trip problem of most people with this.This not only can discharge more path resource, reduce path resource per capita to occupy and discharge with decreasing pollution, meet the developing direction of urban development and environment facies harmony, and there is following positive effect: a, reduction common line journey time, reduce utility car intersection and incur loss through delay; B, minimizing utility car stop frequency, improve utility car roadability and accuracy rate, improve bus service level; C, the consumption of minimizing vehicle energy, manpower and vehicle equipment.
Claims (7)
1. the urban highway traffic public transport priority signal control method based on vehicle GPS, it is characterized in that: vehicle GPS positioning system is installed on public transit vehicle, when public transit vehicle distance 100-150m place, crossing, front end, described vehicle GPS positioning system sends checking data signal to traffic control center; When public transit vehicle travels to 50-80m place, crossing from the front end, described vehicle GPS positioning system sends once school inspection data-signal again to traffic control center, the whistle control system of described traffic control center is by communicating with front end intersection annunciator, information and current signal phase situation is arrived in conjunction with vehicle, control crossroad traffic signal lamp changes, and carries out Bus Priority control:
1) extend green time or extend priority pass: when crossing green light closes to an end, if by the vehicle GPS positioning system in public transport, the whistle control system of traffic control center detects that this section still has public transit vehicle to be about to pass through crossing, then extend the green time of this direct of travel, make the public transport being about to arrival that this time expand can be utilized to pass through crossing; If exceed the maximum green extension that this crossing arranges, public transit vehicle is about to by crossing, then stop the green time of this direct of travel, allow after passing through the vehicle in direction, this bus just by;
2) cut-out red time or call priority pass through: to the public transit vehicle arrived in red light phase place, in current green light phase place after Minimum Green Time, immediately existing red light is switched, open public traffic in priority green light in advance and pass through, to improve mass transportation facilities overall trip speed in order to public transport.
2. the urban highway traffic public transport priority signal control method based on vehicle GPS according to claim 1, it is characterized in that: green extension, judged according to the distance between the vehicle location of the vehicle GPS positioning system location on bus and stop line and bus speed by traffic control center; If a public transport is when the tail end of green light phase place arrives, then continues green time and pass through intersection to this public transit vehicle.
3. the urban highway traffic public transport priority signal control method based on vehicle GPS according to claim 2, it is characterized in that: adopt rule-based public traffic in priority algorithm model, according to the queue length of public transit vehicle, lane occupancy ratio, flow, setting flow adjusting range, speed, setting speed adjusting range, determines green extension according to formula (1)
w=f(a)*a1+f1(d)*d1+f2（s）s1+b-c （1）
In formula, w is green extension,
f, f1, f2represent a kind of linear relationship; A is flow adjusting range parameter, and d is lane occupancy ratio adjusting range parameter, and s is bus speed adjustment parameter, and a1, d1, s1 are adjustment weight, and c is current green time, and b is constant parameter.
4. the urban highway traffic public transport priority signal control method based on vehicle GPS according to claim 3, it is characterized in that: according to the actual conditions of China's mixed traffic and the uncertainty of the magnitude of traffic flow, adopt FUZZY ALGORITHMS FOR CONTROL model, predict the magnitude of traffic flow of certain section a certain period;
Described FUZZY ALGORITHMS FOR CONTROL model, adopts the number of chaotic optimization algorithm determination hidden layer wavelet basis, adopt formula (2) calculate certain section (
t+ 1) the predicting traffic flow amount of period:
（2）
In formula,
frepresent a kind of nonlinear function; , be respectively predicted section
tthe magnitude of traffic flow in section, period upstream and downstream; For one week same workaday same period magnitude of traffic flow on prediction section.
5. the urban highway traffic public transport priority signal control method based on vehicle GPS according to claim 4, it is characterized in that: adopt FUZZY ALGORITHMS FOR CONTROL according to historical traffic, the adjustment traffic signal control system teleseme cycle of operation: according to 5 ~ 10 minutes vehicle flowrates and occupation rate data in history, historical traffic data before compares, revise the magnitude of traffic flow and occupation rate data, vehicle flowrate and occupation rate data are brought into fuzzy control model, calculates the traffic signaling equipment next cycle of operation;
Its cycle length of the described cycle of operation, wc calculated according to formula (3):
wc=F（I，V, O）+d （3）
In formula,
frepresent a kind of nonlinear relationship; I is the effectiveness parameter in wagon flow five minutes, and V is flow, and d is constant coefficient; O is occupation rate;
Described FUZZY ALGORITHMS FOR CONTROL model is:
（4）
In formula, wagon flow effectiveness parameter is I, and flow is V, and occupation rate is O, and vehicle flowrate coefficient is a, and occupation rate coefficient is b, and calibration occupation rate is c, and constant coefficient is d.
6. the urban highway traffic public transport priority signal control method based on vehicle GPS according to claim 4, it is characterized in that: by traffic flow data pre-service, remove some abnormal data, misdata, and supplement the data of losing, allow traffic flow data more meet reality; Described traffic flow data preprocessing process comprises: the identifying of traffic data mistake; To the makeover process of misdata, supplementing missing data; And the filter process to traffic data abnormal data.
7. the urban highway traffic public transport priority signal control method based on vehicle GPS according to any one of claim 1 ~ 6, it is characterized in that: according to each intersection vehicle flux situation, and the vehicle flowrate situation of crossing Different periods, by arranging Different periods, adopt public traffic in priority period configuration.
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| CN105185133A (en) * | 2015-07-21 | 2015-12-23 | 天津通翔智能交通系统有限公司 | Bus rapid transit signal control device, control system and control method |
| CN106781564A (en) * | 2016-12-28 | 2017-05-31 | 安徽科力信息产业有限责任公司 | Bus signal priority control method based on video detector |
| CN107293134A (en) * | 2017-06-19 | 2017-10-24 | 东南大学 | Bus signals priority acccess control strategy based on virtual electronic fence |
| CN108470455A (en) * | 2018-03-21 | 2018-08-31 | 千寻位置网络（浙江）有限公司 | A kind of priority system and control method |
| CN109448416A (en) * | 2018-11-23 | 2019-03-08 | 中国铁道科学研究院集团有限公司通信信号研究所 | Intelligent bus control centre running scheduling regulator control system |
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| CN113781805A (en) * | 2021-09-10 | 2021-12-10 | 淮阴工学院 | Traffic light control system and control method for preferential passing of special vehicle |
| CN113874923A (en) * | 2020-01-21 | 2021-12-31 | 深圳元戎启行科技有限公司 | Traffic signal lamp control method and device, computer equipment and storage medium |
| CN114120671A (en) * | 2021-12-15 | 2022-03-01 | 阿波罗智联(北京)科技有限公司 | Traffic signal lamp control method, device, equipment and storage medium |
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