CN104575035A - Intersection self-adaptation control method based on car networking environment - Google Patents
Intersection self-adaptation control method based on car networking environment Download PDFInfo
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Abstract
The invention discloses an intersection self-adaptation control method based on a car networking environment and belongs to the technical field of car networking. According to the method, the advantages of the car networking are made full use of, the real-time state information of cars is provided for a road side unit, firstly, abstract modeling is performed on a whole traffic network, and the dynamic priority of each traffic flow is calculated; then, an optimal phase position and phase sequence model is built according to specific characteristics of an intersection so that the optimal phase position sequence of the current intersection can be obtained, high-priority traffic flows can pass through the intersection preferentially, and meanwhile, it is guaranteed that the flow of the cars allowed to pass each time is maximum. According to the method, lots of buried sensors are not needed, and not only is city control system construction cost reduced, but also maintenance upgrading of a traffic control system is facilitated. The traffic flows and the states of the cars are accurately mastered in real time, and the situation that in the prior art, a traffic control system lags behind seriously, and obtained information is little and even wrong is greatly changed.
Description
Technical field
The present invention relates to a kind of self application control method based on crossing under car networked environment, it belongs to car networking technology field.
Background technology
Along with the fast development of national economy, the quantity of urban automobile continues to increase.Energy resource consumption and the problem such as urban congestion, motor traffic safety have become the bottleneck restricting China Transportation Industry sustainable development.The intellectuality of urban transportation, information-based, integration becomes the technology of the most critical of head it off.Intelligent transport technology can make traffic jam reduce about 60%, makes short-distance transport efficiency improve nearly 70%, makes the traffic capacity of existing road net improve 2-3 doubly.But traditional traffic control method also exists many problems, and subject matter is as follows: 1) rely on road static sensor to gather car flow information.At present, in field of traffic control, mainly through magnetic, detection technique, mode such as ripple frequency detection technique, video detection technology etc. gather telecommunication flow information frequently.The raw data collected also exists various error on the one hand, and is often incomplete or abnormal.The information collected on the other hand has regular hour hysteresis quality and unicity.2) car networking at present is just risen, and each technical field is left to be desired.Conventional traffic control method depends on the static data that single sensor gathers, and cannot carry out real-time regulation and control to traffic flow, is not suitable for the working environment of car networking completely.3) traffic control method working effect under the non-congestion status of traffic is better, but when traffic will occur blocking up or occurred to block up, control effects is poor.Signal system is difficult to the reason that deep analysis traffic flow is blocked up, be more difficult to decision-making let pass under jam situation which section traffic flow be of value to most traffic congestion evacuate.4) traditional traffic signal control system is mostly that the phasing scheme of putative signal is determined, carries out some and optimizes, but have ignored the optimization of signal phase itself to signal timing dial algorithm.Belonging to the indirect control to traffic, is not the direct control for traffic flow phase place, phase sequence demand.More enough in conjunction with the real-time status of traffic flow, the adjustment of phase-relate could not be carried out dynamically, control hysteresis, inefficiency.
Summary of the invention
For above traffic control system produced problem, the invention provides a kind of based on self application control method in crossing under car networked environment, the method takes full advantage of the advantage of car networking, by the DSRC communication technology, the real time status information of vehicle is supplied to roadside unit.First roadside unit carries out abstract modeling to whole traffic network, calculates the dynamic priority of each stock traffic flow.On this basis, according to the concrete property of crossing, set up optimum angle phase sequence model.By this model, try to achieve the optimum angle phase sequence of current crossing, make the traffic flow of high priority preferentially by crossing, can ensure that the vehicle flowrate that single is let pass is maximum simultaneously.
The present invention is by the following technical solutions: a kind of self application control method based on crossing under car networked environment, real time status information is transferred to roadside unit by Dedicated Short Range Communications, technology or WIFI by vehicle, the real time status information that roadside unit collects vehicle carries out Information Statistics process, the phase-relate of the optimum at current crossing is obtained according to self application control strategy, by roadside unit, control information is fed back to traffic signaling equipment again, comprises the following steps:
(1) real time status information of vehicle is sent to roadside unit by Dedicated Short Range Communications, technology or WIFI by vehicle; The real time status information of described vehicle comprises: speed, acceleration, Vehicular turn information, course angle, vehicle GPS coordinate.
(2) roadside unit carries out process statistics to the real time status information of vehicle in crossing, calculates the degree of association between each wagon flow of crossing;
ω
ij＝I
1+I
2
ω
ijrepresent the degree of association between traffic flow i and traffic flow j, I
1represent the quantity C of vehicle added turning lane j on the i of track
i-> jaccount for vehicle fleet size C on the i of track
iratio, I
2represent that vehicle queue is on the impact of traffic flow, d
1represent the queue length of vehicle, d
2by vehicle deceleration to stop the distance of process, d
3for normal vehicle operation is to the reaction distance slowed down, l is the distance between Adjacent Intersections;
(3) calculated the clearance priority of traffic flow on each track by path priority model, roadside unit calculates the clearance priority of per share traffic flow according to accurate traffic flow parameter, and its computing formula is as follows:
Wherein, R (i) represents the clearance priority of the traffic flow i on track, and n represents the quantity of the traffic flow that current crossing needs control, W
ijrepresent the degree of association between traffic flow i and traffic flow j, t represents the time (second) that current flows is waited for, d represents the specific gravity factor shared by the vehicle stand-by period;
(4) obtain the phase-relate of the optimum in current crossing in conjunction with traffic flow clearance priority, set up the Connected undigraph of weighting at single crossing place, the node that in figure, traffic flow i is corresponding is L
i, the priority of corresponding traffic flow is R
i; Node L
iwith L
jbetween limit represent traffic flow mutually conflict can pass through within same phase place, utilize the maximum complete subgraph of weighting of self application Algorithm for Solving figure, obtain the phase-relate of crossing optimum;
(5) phase-relate of optimum is fed back to whistle control system by roadside unit, with control to let pass green time the time, during clearance green, time bonding is let pass and is emptied the vehicle at current crossing; At tail of the queue vehicle completely by behind crossing, send confirmation to roadside unit, end time when roadside unit judges green on this basis.
The invention has the beneficial effects as follows: the method takes full advantage of the advantage of car networking, and the real time status information of vehicle is supplied to roadside unit, and first it carry out abstract modeling to whole traffic network, calculates the dynamic priority of each stock traffic flow.And on this basis, according to the concrete property of crossing, set up optimum angle phase sequence model.By this model, try to achieve the optimum angle phase sequence of current crossing, make the traffic flow of high priority preferentially by crossing, can ensure that the vehicle flowrate that single is let pass is maximum simultaneously.The method need not be a large amount of bury sensor underground, this not only alleviates the cost that city control system is built, and is also of value to the maintenance upgrade of traffic control system.Grasp the state of traffic flow, vehicle in real time accurately, change traffic control system in the past greatly seriously delayed, the situation that the information that obtains is less or even wrong.The optimum angle phase sequence that the clearance priority basis of traffic flow obtains, system not only be ensure that, and the traffic flow of high priority can be preferential by crossing, reduces the generation of traffic congestion, can ensure that the vehicle flowrate that single is let pass is maximum simultaneously.
Accompanying drawing explanation
Fig. 1 is a kind of block diagram of the self application control method based on crossing under car networked environment.
Fig. 2 is city road network abstract modeling figure.
Fig. 3 is the weighted graph of intersection traffic stream and correspondence.
Embodiment
The present embodiment provides crossing self application control method under a kind of car networked environment, and vehicle data Real-time Collection, is transferred to roadside unit RSU by vehicle real time with the communication format of standard by Dedicated Short Range Communications, DSRC or WIFI.The real time status information that RSU collects vehicle carries out Information Statistics process.The phase-relate of the optimum at current crossing is obtained according to self application control strategy.Control information is fed back to traffic signaling equipment by RSU.Specific implementation method is as follows:
1. the Real-time Collection of car status information and transmission
In current car networking, bus or train route communication is mainly through WIFI, 3G, DSRC.This method mainly adopts DSRC or WIFI that the real time status information of vehicle is transferred to roadside unit RSU.The vehicle real time status information gathered comprises real-time speed, acceleration, Vehicular turn information, course angle, vehicle GPS coordinate.
2. the abstract modeling of city road network
In order to represent dependence between traffic flow and calculate the dynamic priority index of the traffic flow in each section, first need to carry out abstract modeling to road network, the direct graph with weight of structure road network.Its process is as follows: the crossing in city road network represents with node, and the path between crossing then represents with directed edge, as shown in Figure 2.
3. traffic flow priority index calculates
The emergency degree of the clearance of current flows is represented with path priority index R (i).Its computing formula is as follows:
ω
ij＝I
1+I
2
Wherein, R (i) represents the priority of the clearance of current lane traffic flow, and n represents the quantity of the traffic flow that current crossing needs control; W
ijrepresent the correlation degree between traffic flow i and traffic flow j; T represents the time (second) that current flows is waited for; D represents the specific gravity factor shared by the vehicle stand-by period.I
1represent the quantity C of vehicle added turning lane j on the i of track
i-> jaccount for vehicle fleet size C on the i of track
iratio, this parameter is obtained by steering signal of vehicle state by board units, and roadside unit calculates after collecting Vehicular turn status information.I
2represent that vehicle queue is on the impact of traffic flow.Wherein d
1represent the queue length of vehicle, this parameter is by roadside unit according to vehicle GPS data, and statistical computation obtains.D
2by vehicle deceleration to stop the distance of process, this parameter can be obtained, d by the real-time speed of vehicle, acceleration and GPS
3for normal vehicle operation is to the reaction distance slowed down, l is the distance between Adjacent Intersections.
4. optimum angle phase sequence
In order to obtain the phase-relate of crossing's optimum, making the traffic volume of traffic flow within the single cycle maximum, ensureing that the traffic flow of high priority preferentially can pass through crossing simultaneously.The method carries out abstract modeling to the traffic flow of crossing, as shown in Figure 3.Represent 9 bursts of traffic flows of crossing, with L
irepresent.The traffic flow can not producing conflict by crossing within same phase place is referred to as compatible, has limit to be connected between corresponding node.The priority of the per share traffic flow obtained by step 3 is R
i, be the weights of the node of right part of flg.If the vertex set of figure is N={n
1, n
2... ..n
ithe set on corresponding limit is E={R
1, R
2... ..R
i.Can obtain maximum weighting complete subgraph by algorithm, vertex set is N={n
n... ..n
mn≤m≤i be override let pass wagon flow set.By that analogy, remaining node is calculated successively.
5. let pass green time the time
The phase-relate of the optimum at current crossing is fed back to whistle control system by roadside unit, control to let pass green time the time, during clearance green, time bonding is let pass and can be emptied the vehicle at current crossing.Roadside unit, by the information of vehicles obtained, obtains the tail of the queue information of vehicles on each track.At tail of the queue vehicle completely by behind crossing, send confirmation to roadside unit, end time when roadside unit judges green on this basis.
Claims (2)
1. the self application control method based on crossing under car networked environment, real time status information is transferred to roadside unit by Dedicated Short Range Communications, technology or WIFI by vehicle, the real time status information that roadside unit collects vehicle carries out Information Statistics process, the phase-relate of the optimum at current crossing is obtained according to self application control strategy, by roadside unit, control information is fed back to traffic signaling equipment again, it is characterized in that, comprise the following steps:
(1) real time status information of vehicle is sent to roadside unit by Dedicated Short Range Communications, technology or WIFI by vehicle;
(2) roadside unit carries out process statistics to the real time status information of vehicle in crossing, calculates the degree of association between each wagon flow of crossing;
ω
ij＝I
1+I
2
ω
ijrepresent the degree of association between traffic flow i and traffic flow j, I
1represent the quantity C of vehicle added turning lane j on the i of track
i-> jaccount for vehicle fleet size C on the i of track
iratio, I
2represent that vehicle queue is on the impact of traffic flow, d
1represent the queue length of vehicle, d
2by vehicle deceleration to stop the distance of process, d
3for normal vehicle operation is to the reaction distance slowed down, l is the distance between Adjacent Intersections;
(3) calculated the clearance priority of traffic flow on each track by path priority model, roadside unit calculates the clearance priority of per share traffic flow according to accurate traffic flow parameter, and its computing formula is as follows:
Wherein, R (i) represents the clearance priority of the traffic flow i on track, and n represents the quantity of the traffic flow that current crossing needs control, W
ijrepresent the degree of association between traffic flow i and traffic flow j, t represents the time (second) that current flows is waited for, d represents the specific gravity factor shared by the vehicle stand-by period;
(4) obtain the phase-relate of the optimum in current crossing in conjunction with traffic flow clearance priority, set up the Connected undigraph of weighting at single crossing place, the node that in figure, traffic flow i is corresponding is L
i, the priority of corresponding traffic flow is R
i; Node L
iwith L
jbetween limit represent traffic flow mutually conflict can pass through within same phase place, utilize the maximum complete subgraph of weighting of self application Algorithm for Solving figure, obtain the phase-relate of current crossing optimum;
(5) phase-relate of current crossing optimum is fed back to whistle control system by roadside unit, with control to let pass green time the time, during clearance green, time bonding is let pass and is emptied the vehicle at current crossing; At tail of the queue vehicle completely by behind crossing, send confirmation to roadside unit, end time when roadside unit judges green on this basis.
2. a kind of self application control method based on crossing under car networked environment according to claim 1, is characterized in that: the real time status information of described vehicle comprises: speed, acceleration, Vehicular turn information, course angle, vehicle GPS coordinate.
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| CN104900071A (en) * | 2015-06-05 | 2015-09-09 | 南京林业大学 | Traffic light control system |
| CN105046987A (en) * | 2015-06-17 | 2015-11-11 | 苏州大学 | Road traffic signal lamp coordination control method based on reinforcement learning |
| WO2017045147A1 (en) * | 2015-09-16 | 2017-03-23 | 华为技术有限公司 | Method and apparatus for controlling passing of vehicle at road intersection |
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2015
- 2015-01-22 CN CN201510031026.7A patent/CN104575035B/en not_active Expired - Fee Related
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