CN104485003B - A kind of intelligent traffic signal control method based on pipeline model - Google Patents

Abstract

The invention provides a kind of intelligent traffic signal control method based on pipeline model, present approach reduces vehicle by ride quality during intersection.The core concept of intelligent traffic signal control method based on pipeline model is: be primarily based on the car in car networking and infrastructure-based communication, relies on roadside unit to set up a pipeline model for accurately detecting information of vehicles.Then in real time and accurately collect the information of vehicles of inlet and outlet piping according to this model, finally utilize these information reasonable distribution all directions wagon flow green light transit times.The present invention adapts to the dynamic change of vehicle flowrate, on the premise of ensureing traffic volume, effectively reduces the average of vehicle and stops waiting time and average stop frequency, improve the ride quality of crossing intersection part.

Description

A kind of intelligent traffic signal control method based on pipeline model

Technical field

The present invention relates to road traffic signal control field, particularly a kind of intelligent city traffic signal control method.

Background technology

In urban traffic environment, the existence of intersection improves the connectedness of road network.But, intersecting of different directions wagon flow travels the Congestion Level SPCC increasing crossing intersection part, easily causes the decline of vehicle ride quality.Particularly when the time of traffic signal control system distribution is unreasonable, the Congestion Level SPCC of crossing intersection part can be aggravated.The traffic circulation state of urban road junction is closely related with the traffic noise prediction in whole city, and the traffic problems solving crossing intersection part are that alleviation urban road is congested, improve the key of vehicle ride quality.

Traffic signalization is considered as to improve one of most economical and effective approach of intersection passing amount at present, and its control mode is broadly divided into fixing timing and self adaptation timing.Fixing timing method is according to the historical data of the volume of traffic, for the most fixing green light transit time of intersection all directions distribution.Self adaptation timing method then feeds back the effect of current timing scheme by suitable algorithm or utilizes vehicle detection to provide real-time transport information, for dynamically adjusting timing scheme.Two kinds of methods cut both ways: fixing timing method the most easily realizes, and is widely used in the middle of real life, but it cannot adapt to the highly dynamic property of vehicle flowrate, reduce vehicle by ride quality during intersection.Self adaptation timing method can more be flexibly adapted to the dynamic of vehicle flowrate, but exist and realize the problems such as complexity is inaccurate with information of vehicles acquisition.Compared with fixing timing method, self adaptation timing method more flexibly effectively, therefore research worker or utilize various theoretical knowledge, or by various soft hardware equipment, propose and improve multiple adaptive traffic signal control method.Such as artificial intelligence and machine Learning Theory, image and video processing technique, wireless sensor network technology etc..In recent years, intelligent transportation system (Intelligent Traffic System, ITS) served pivotal role for conevying efficiency and the safety of road improvement traffic.Vehicle self-organizing network (Vehicular Ad-hoc Network, VANET) can be regarded as the product that ITS developed rapidly in the more than ten years in past, and it is that the realization of self-adapting traffic signal control system solution provides more efficient means.

Existing self-adapting traffic signal control method is numerous, but there is complicated or acquisition vehicle-related information the accuracy of realization and be difficult to defects such as being protected.The result of such as image or video and the sample quality of collection have close relationship, and particularly in the case of bad weather or traffic congestion, the effect of this kind of method is difficult to be guaranteed.Traffic control based on " green ripple " effect does not stops through multiple traffic lights crossings incessantly by realizing the wagon flow on arterial highway, is one of the most generally acknowledged traffic control strategy of full blast." green ripple " is although solution is efficient, but can only improve the ride quality of major trunk roads, and the traveling of distributor road may be brought adverse influence.Meanwhile, these methods all have ignored the type of vehicle impact on the distribution time.

Summary of the invention

The present invention is directed to the deficiency of existing traffic signal control method, it is proposed that a kind of intelligent traffic signal control method based on pipeline model.

The technical scheme is that a kind of intelligent traffic signal control method based on pipeline model, comprise the steps:

Step 1, sets up pipeline model, and described pipeline model includes roadside unit, data center server and traffic control system；Described roadside unit is for collecting the relevant information of vehicle, and described data center server is for processing the information of vehicles that roadside unit is submitted to, and described traffic control system is for distributing rational green light transit time for each crossing.Go to step 2；

Step 2, when vehicle enters pipeline, to first via side unit RSU₁Send and arrive message AM_i, arrive message AM_iContent include the identifier of vehicle, traveling lane, type of vehicle, the time of arrival pipeline and the priority of vehicle, i represents i-th vehicle；When vehicle leaves pipeline, to the second roadside unit RSU₂Send leave group message DM_i, leave group message DM_iContent comprise the identifier of vehicle；First via side unit RSU₁Receive arrival message AM_iAfter, the relevant information of data center server this vehicle of record；Second roadside unit RSU₂Receive leave group message DM_iAfter, data center server deletes the relevant information of this vehicle.Meanwhile, retransmitting message strategy and outdated information deletion strategy is used to process information.Go to step 3；

Step 3, is divided into vehicle large, medium and small three classes by type, and gives weighing factor W respectively_x、W_y、W_z, wherein dilly is criteria influences weight, and data center server is by the weight of vehicles all types of in cumulative pipeline, and obtaining current time affects the weighted value of green time distribution, is designated as Flow_C, and will give traffic control system on it.Go to step 4；

Step 4, traffic control system checks whether the track in current direction obtains green time control, is to go to step 5, otherwise goes to step 2；

Step 5, traffic control system compares the weighted value Flow_C affecting green time distribution and the size of weight threshold Flow_T of vehicle in pipeline, if Flow_C is ＞ Flow_T, illustrates that road congestion degree is higher, then go to step 6, otherwise go to step 8；

Step 6, distributes green light transit time for wagon flow, continues to compare the weighted value Flow_C affecting green time distribution and the size of weight threshold Flow_T of vehicle in pipeline.If Flow_C is ＞ Flow_T, illustrates that road congestion degree is still in higher level, go to step 7, otherwise go to step 8；

Step 7, traffic control system judges current green light duration T_GWhether more than maximum green perild T_maxG, it is to go to step 9, otherwise goes to step 6；

Step 8, traffic control system is that current lane distributes Minimum Green Time T_minG, and go to step 9；

Step 9, traffic control system transfer current lane green time control, to the track in next direction, terminates flow process.

Retransmitting message strategy and outdated information deletion strategy in described step 2 be: vehicle leaves backup, if do not received in time γ from first via side unit RSU when sending and arriving message₁Response, then send backup messages, it is assumed that vehicle i when entering and leaving pipeline respectively to first via side unit RSU₁With the second roadside unit RSU₂Send and arrive message AM_iWith leave group message DM_i, under using retransmitting message strategy premise, first via side unit RSU₁With the second roadside unit RSU₂The result receiving message has a following four situation:

(1) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Receive leave group message DM_i: the turnover situation of pipeline model this vehicle of normal recordings；

(2) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Receive leave group message DM_i: pipeline model does not record the relevant information of this vehicle, is not counted in vehicle numerical value, does not bring the calculating of weight into；

(3) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: pipeline model does not record the relevant information of this vehicle, is not counted in vehicle numerical value, does not bring the calculating of weight into；

(4) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: pipeline model does not record the relevant information of this vehicle, is not counted in vehicle numerical value, does not bring the calculating of weight into.

In described step 3, the method calculating the weighted value Flow_C finally affecting green time distribution is: consider the green time distribution condition of a direction wagon flow, ignore the distribution of right-hand rotation wagon flow time, assuming that in present road pipeline, vehicle fleet is N, wherein left turning vehicle, through vehicles and right-turning vehicles proportion are respectively N_a、N_b、N_c, the weighing factor making single unit vehicle is W_i, then have:

$Flow\_C=\underset{i=1}{\overset{N}{\Σ}}{\mathrm{flag}}_i\·W_i---\left(1\right)$

Wherein flag_iRepresent that i-th vehicle rolls the flag in direction, W away from_iRepresent the weighing factor of i-th vehicle, and flag_iAnd W_iValue such as formula (2) and (3) shown in:

Data center server receives first via side unit RSU₁With the second roadside unit RSU₂Vehicle data after process, obtains affecting the weighted value Flow_C of green time distribution, and will give traffic control system on it by formula (1), (2) and (3).

The solution have the advantages that: a kind of intelligent traffic signal control method based on pipeline model, be primarily based on the car in car networking and infrastructure-based communication, rely on roadside unit to set up a pipeline model for accurately detecting information of vehicles.Then in real time and accurately collect the information of vehicles of inlet and outlet piping according to this model, finally utilize these information reasonable distribution all directions wagon flow green light transit times.The present invention adapts to the dynamic change of vehicle flowrate, on the premise of ensureing traffic volume, effectively reduces the average of vehicle and stops waiting time and average stop frequency, improve the ride quality of crossing intersection part.

Accompanying drawing explanation

Fig. 1 is the structure chart of pipeline model；

Fig. 2-1 arrives message format figure for vehicle；

Fig. 2-2 is vehicle leave group message format chart；

Fig. 3 is application scenarios figure based on pipeline model；

Fig. 4 is intelligent traffic signal control method flow chart based on pipeline model.

Detailed description of the invention

The present invention studies discovery, in current traffic signal control method, there is solution and realizes complexity, and the real-time of acquisition vehicle-related information and accuracy are difficult to problems such as being protected.The present invention provides new intelligent traffic signal control method accordingly.A kind of intelligent traffic signal control method based on pipeline model, for the green light transit time of reasonable distribution intersection all directions wagon flow.The basic thought of intelligent traffic signal control method based on pipeline model is: the car being primarily based in VANET and infrastructure (Vehicle-to-Infrastructure, V2I) communication, roadside unit (Road Side Unit, RSU) is relied on to set up a pipeline model for accurately detecting information of vehicles.Then in real time and accurately collect the information of vehicles of inlet and outlet piping according to this model, finally utilize the green light transit time of these information reasonable distribution all directions wagon flows.

In order to distribute signal time according to vehicle flowrate, need to obtain the vehicle density information near intersection.Although the density of vehicle can be estimated based on cluster algorithm and the method that utilizes video or image processing techniques to realize calculating traffic density, but it is not accurate enough to there is problems in that (1) traffic density calculates, and is easily subject to the interference of objective factor.Such as excessive when vehicle density or meet with bad weather time, the result that above-mentioned two class methods obtain is difficult to be protected；(2) have ignored the type of vehicle impact on the distribution time.Therefore, the V2I communication during the present invention is primarily based on VANET propose a kind of can the pipeline model of accurately detecting information of vehicles.

The essence of pipeline model is made by roadside unit and collects and process the relevant information of vehicle in pipeline, including identifier, traveling lane, type of vehicle, the time of arrival pipeline and the priority etc. of vehicle of vehicle.Traffic control system then utilizes these information to be that signal timing is distributed in each intersection.The sharpest edges of pipeline model are accurately to obtain the real-time condition of wagon flow in pipeline.

As it is shown in figure 1, the element of pipeline model specifically includes that roadside unit, data center server and traffic control system.Roadside unit is for collecting the relevant information of vehicle, and data center server is for processing the information of vehicles that roadside unit is submitted to, and traffic control system is for distributing rational green light transit time for each crossing.Roadside unit RSU₁And RSU₂Between section be referred to as pipeline.When vehicle enters pipeline, to first via side unit RSU₁Sending and arrive message (Arrival Message, AM), AM content includes the identifier of vehicle, traveling lane, type of vehicle, the time of arrival pipeline and the priority of vehicle.When vehicle leaves pipeline, to the second roadside unit RSU₂Sending leave group message (Depart Message, DM), DM content only comprises the identifier of vehicle.The form of two kinds of message is as shown in Figure 2.First via side unit RSU₁After receiving AM, the relevant information of registration of vehicle；Second roadside unit RSU₂After receiving DM, delete the relevant information of vehicle.The real time information data storehouse of vehicle in both common service conduit.The relevant information of vehicle is added up and is processed by data center server, and on give traffic control system, for controlling the distribution of roadway sign time.

As it is shown on figure 3, be enforcement illustration based on pipeline model.For being passed through the situation before right-angled intersection by west direction wagon flow eastwards.Link length is L, and duct length is D, roadside unit RSU₁And RSU₂Being the key components of pipeline model, the information of turnover pipeline vehicle is collected in the both sides laying respectively at pipeline.

The information of pipeline model real time record vehicles while passing pipeline, due to bigger by the vehicle flowrate of intersection in the middle of one day, can produce the probability that message transmission is failed in car with roadside unit communication process, thus the result recorded is caused certain deviation.Although the distribution of signal period is not had anything to affect by this deviation, if but long term accumulation, it is possible to can cause and the most significantly affect.Therefore, the present invention uses retransmitting message strategy and outdated information deletion strategy to strengthen the reliability of pipeline model.

Wherein the core of retransmitting message process is:

Vehicle leaves backup, if do not received from RSU in time γ when sending and arriving message₁Response, then send backup messages.Assume vehicle i when entering and leaving pipeline respectively to first via side unit RSU₁With the second roadside unit RSU₂Send and arrive message AM_iWith leave group message DM_i.Under using retransmitting message strategy premise, RSU₁And RSU₂The result receiving message has a following four situation:

(1) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Receive DM_i: the turnover situation of this vehicle of pipeline model normal recordings is described；

(2) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Receive DM_i: illustrate that pipeline model does not record the relevant information of this vehicle, be therefore left intact, be i.e. not counted in type of vehicle and be divided into the numerical value of large, medium and small three class vehicles, do not bring the calculating of weight into.

(3) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: illustrate that pipeline model have recorded the relevant information of this vehicle, but delete information of vehicles failure when vehicle leaves pipeline.Now use outdated information deletion strategy, if i.e. accepting arrival message AM_iAfter time period λ in the most do not receive leave group message DM_i, then it is considered as this vehicle and has been moved off pipeline, and be automatically deleted the relevant information of this vehicle.Even if receiving leave group message DM after the λ time period_i, it is left intact, is i.e. not counted in type of vehicle and is divided into the numerical value of large, medium and small three class vehicles, do not bring the calculating of weight into.

(4) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: the turnover situation record of pipeline model not this vehicle is described, is left intact, be i.e. not counted in type of vehicle and be divided into the numerical value of large, medium and small three class vehicles, do not bring the calculating of weight into.

In actual life, traffic signal control system is commonly assigned to intersection all directions wagon flow and fixes equal green time.But, the vehicle flowrate of different directions is the most unequal and the most dynamically changes.Fixing green time cannot adapt to the dynamic of vehicle flowrate, and distributes the demand that equal green time cannot meet all directions difference vehicle flowrate.Therefore, the present invention proposes a kind of demand assigned intelligent traffic signal control method based on pipeline model, distributes rational green time for all directions wagon flow on the premise of meeting traffic volume.

For the vehicle, the ride quality through intersection is closely related with stopping waiting time and stop frequency.Stop the waiting time long, the traffic volume of intersection can be reduced；Stop frequency is too much, is easily reduced vehicle ages, and increases exhaust emissions amount.Therefore, a good traffic signal control method needs the purpose reached to be on the premise of ensureing traffic volume, is reduced as far as the average of wagon flow and stops waiting time and average stop frequency.Pipeline model have recorded the real time information of vehicles while passing pipeline, by the wagon flow situation in pipeline, distributes rational green light transit time for it.When vehicle flowrate is less, shorter green time should be distributed, reduce the stopping waiting time of vehicle；When vehicle flowrate is relatively big, longer green time should be distributed, thus reduce the stop frequency of vehicle.

The distribution of green time is actually the process to green time control right transfer.After the road of a direction obtains green time control, rational green time distribution will be carried out according to the vehicle flowrate situation of present road, after experienced by the green time of distribution, will be the road of green time control right transfer to next direction.

The threshold value assuming weight is Flow_T, flow process such as Fig. 4 of distribution green light transit time, comprises the following steps that shown:

Step 1, sets up pipeline model, and described pipeline model includes roadside unit, data center server and traffic control system；Described roadside unit is for collecting the relevant information of vehicle, and described data center server is for processing the information of vehicles that roadside unit is submitted to, and described traffic control system is for distributing rational green light transit time for each crossing.Go to step 2；

Step 2, when vehicle enters pipeline, to first via side unit RSU₁Send and arrive message AM_i, arrive message AM_iContent include the identifier of vehicle, traveling lane, type of vehicle, the time of arrival pipeline and the priority of vehicle.When vehicle leaves pipeline, to the second roadside unit RSU₂Send leave group message DM_i, leave group message DM_iContent comprises the identifier of vehicle；First via side unit RSU₁Receive arrival message AM_iAfter, the relevant information of data center server registration of vehicle；Second roadside unit RSU₂Receive leave group message DM_iAfter, data center server deletes the relevant information of vehicle.Meanwhile, retransmitting message strategy and outdated information deletion strategy is used to process information.Go to step 3；

Described retransmitting message strategy and outdated information deletion strategy be: vehicle leaves backup, if do not received from RSU in time γ when sending and arriving message₁Response, then send backup messages.Assume vehicle i when entering and leaving pipeline respectively to first via side unit RSU₁With the second roadside unit RSU₂Send and arrive message AM_iWith leave group message DM_i.Under using retransmitting message strategy premise, RSU₁And RSU₂The result receiving message has a following four situation:

(1) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Receive DM_i: the turnover situation of this vehicle of pipeline model normal recordings is described；

(2) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Receive DM_i: illustrate that pipeline model does not record the relevant information of this vehicle, be therefore left intact, be i.e. not counted in type of vehicle and be divided into the numerical value of large, medium and small three class vehicles, do not bring the calculating of weight into.

(3) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: illustrate that pipeline model have recorded the relevant information of this vehicle, but delete information of vehicles failure when vehicle leaves pipeline.Now use outdated information deletion strategy, if i.e. accepting arrival message AM_iAfter time period λ in the most do not receive leave group message DM_i, then it is considered as this vehicle and has been moved off pipeline, and be automatically deleted the relevant information of this vehicle.Even if receiving leave group message DM after the λ time period_i, it is left intact, is i.e. not counted in type of vehicle and is divided into the numerical value of large, medium and small three class vehicles, do not bring the calculating of weight into.

(4) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: the turnover situation record of pipeline model not this vehicle is described, is left intact, be i.e. not counted in type of vehicle and be divided into the numerical value of large, medium and small three class vehicles, do not bring the calculating of weight into.

Step 3, is divided into vehicle large, medium and small three classes by type, and gives weighing factor W respectively_x、W_y、W_z, wherein dilly is criteria influences weight, and data center server is by the weight of vehicles all types of in cumulative pipeline, and obtaining current time affects the weighted value of green time distribution, is designated as Flow_C；

Consider the green time distribution condition of a direction wagon flow, ignore the distribution of right-hand rotation wagon flow time, it is assumed that in present road pipeline, vehicle fleet is N, and wherein left turning vehicle, through vehicles and right-turning vehicles proportion are respectively N_a、N_b、N_c, the weighing factor making single unit vehicle is W_i, then have:

$Flow\_C=\underset{i=1}{\overset{N}{\Σ}}{\mathrm{flag}}_i\·W_i---\left(1\right)$

Wherein flag_iRepresent that i-th vehicle rolls the flag in direction, W away from_iRepresent the weighing factor of i-th vehicle, and flag_iAnd W_iValue such as formula (2) and (3) shown in:

Data center server receives first via side unit RSU₁With the second roadside unit RSU₂Vehicle data after process, obtains affecting the weighted value Flow_C of green time distribution, and will give traffic control system on it by formula (1), (2) and (3).Go to step 4；

Step 4, traffic control system checks whether the track in current direction obtains green time control, is to go to step 5, otherwise goes to step 2；

Step 5, traffic control system compares the weighted value Flow_C affecting green time distribution and the size of weight threshold Flow_T of vehicle in pipeline, if Flow_C is ＞ Flow_T, illustrates that road congestion degree is higher, then go to step 6, otherwise go to step 8；

Step 6, distributes green light transit time for wagon flow, continues to compare the weighted value Flow_C affecting green time distribution and the size of weight threshold Flow_T of vehicle in pipeline.If Flow_C is ＞ Flow_T, illustrates that road congestion degree is still in higher level, go to step 7, otherwise go to step 8；

Step 7, traffic control system judges current green light duration T_GWhether more than maximum green perild T_maxG, it is to go to step 9, otherwise goes to step 6；

Step 8, traffic control system is that current lane distributes Minimum Green Time T_minG, and go to step 9；

Step 9, traffic control system transfer current lane green time control, to the track in next direction, terminates flow process.

Specific embodiment described in the invention is only to present invention spirit explanation for example.Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by those skilled in the art, but without departing from the spirit of the present invention or surmount scope defined in appended claims.

Claims (3)

1. an intelligent traffic signal control method based on pipeline model, it is characterised in that comprise the steps:

Step 1, sets up pipeline model, and described pipeline model includes roadside unit, data center server and traffic control system System；Described roadside unit is for collecting the relevant information of vehicle, and described data center server is used for processing roadside unit and carries The information of vehicles handed over, described traffic control system is for distributing rational green light transit time for each crossing；

Step 2, when vehicle enters pipeline, to first via side unit RSU₁Send and arrive message AM_i, arrive message AM_i Content include the identifier of vehicle, traveling lane, type of vehicle, the time of arrival pipeline and the priority of vehicle, i generation Table i-th vehicle；When vehicle leaves pipeline, to the second roadside unit RSU₂Send leave group message DM_i, leave group message DM_i Content comprise the identifier of vehicle；First via side unit RSU₁Receive arrival message AM_iAfter, data center server record The relevant information of this vehicle；Second roadside unit RSU₂Receive leave group message DM_iAfter, data center server deletes this vehicle Relevant information；Meanwhile, retransmitting message strategy and outdated information deletion strategy is used to process information；

Step 3, is divided into vehicle large, medium and small three classes by type, and gives weighing factor W respectively_x、W_y、W_z, it is medium and small Type vehicle is criteria influences weight, and data center server, by the weight of vehicles all types of in cumulative pipeline, obtains current time Affect the weighted value of green time distribution, be designated as Flow_C, and traffic control system will be given on it；

Step 4, traffic control system checks whether the track in current direction obtains green time control, is to go to step 5, Otherwise go to step 2；

Step 5, traffic control system compares the weighted value Flow_C affecting green time distribution and the weight threshold of vehicle in pipeline The size of Flow_T, if Flow_C is ＞ Flow_T, illustrates that road congestion degree is higher, then goes to step 6, otherwise go to step 8；

Step 6, distributes green light transit time for wagon flow, continues to compare the weighted value affecting green time distribution of vehicle in pipeline Flow_C and the size of weight threshold Flow_T；If Flow_C is ＞ Flow_T, then road congestion degree is still in higher Level, goes to step 7, otherwise goes to step 8；

Step 7, traffic control system judges current green light duration T_GWhether more than maximum green perild T_maxG, it is to turn step Rapid 9, otherwise go to step 6；

Step 8, traffic control system is that current lane distributes Minimum Green Time T_minG, and go to step 9；

Step 9, the green time control of traffic control system transfer current lane, to the track in next direction, terminates stream Journey.

A kind of intelligent traffic signal control method based on pipeline model the most according to claim 1, it is characterised in that: described Retransmitting message strategy and outdated information deletion strategy in step 2 be: vehicle leaves backup when sending and arriving message, if Do not receive in time γ from first via side unit RSU₁Response, then send backup messages, it is assumed that vehicle i enter and from Respectively to the first via side unit RSU during open pipe road₁With the second roadside unit RSU₂Send and arrive message AM_iAnd leave group message DM_i, under using retransmitting message strategy premise, first via side unit RSU₁With the second roadside unit RSU₂Receive the knot of message Fruit has a following four situation:

(1) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Receive leave group message DM_i: pipe The turnover situation of road model this vehicle of normal recordings；

(2) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Receive leave group message DM_i: Pipeline model does not record the relevant information of this vehicle, is not counted in vehicle numerical value, does not bring the calculating of weight into；

(3) first via side unit RSU₁Receive arrival message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: Pipeline model does not record the relevant information of this vehicle, is not counted in vehicle numerical value, does not bring the calculating of weight into；

(4) first via side unit RSU₁It is not received by reaching message AM_i, the second roadside unit RSU₂Do not receive leave group message DM_i: pipeline model does not record the relevant information of this vehicle, is not counted in vehicle numerical value, does not bring the calculating of weight into.

A kind of intelligent traffic signal control method based on pipeline model the most according to claim 1, it is characterised in that described In step 3, the method calculating the weighted value Flow_C finally affecting green time distribution is: consider the green of a direction wagon flow Lamp time distribution condition, ignores the distribution of right-hand rotation wagon flow time, it is assumed that in present road pipeline, vehicle fleet is N, and wherein turn left car , through vehicles and right-turning vehicles proportion be respectively N_a、N_b、N_c, the weighing factor making single unit vehicle is W_i, then have:

$Flow\_C=\underset{i=1}{\overset{N}{\Σ}}{\mathrm{flag}}_i\·W_i---\left(1\right)$

Wherein flag_iRepresent that i-th vehicle rolls the flag in direction, W away from_iRepresent the weighing factor of i-th vehicle, and flag_iAnd W_iValue such as formula (2) and (3) shown in:

Data center server receives first via side unit RSU₁With the second roadside unit RSU₂Vehicle data after process, passes through Formula (1), (2) and (3) obtains affecting the weighted value Flow_C of green time distribution, and will give traffic control on it System.