CN104952259B - Traffic event duration time calculation method based on traffic scene radar - Google Patents
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Abstract
The invention belongs to the technical field of city expressway traffic management, and particularly relates to a traffic event duration time calculation method based on traffic scene radar. The method comprises the following steps of installing the traffic scene radar in an expressway region to be tested, and debugging and setting a detection range; using the traffic scene radar to obtain positioning data of moving vehicles in the detection region; calculating the running speed of the single moving vehicle in the detection region at one time interval; calculating the average running speed at each road section in the detection region at one time interval; adopting a threshold method for judging the traffic event; calculating the duration of the traffic event. The method has the advantages that the current traffic event duration can be fast obtained, so that a traffic manager can reasonably define the traffic flow division position of the current jamming road, so that the goals of avoiding the occurrence of secondary accidents and traffic jamming and reducing the influence of accidents and the running delay can be achieved, and the event dealing decision level of the traffic manager and the intellectualization level are improved.
Description
Technical field
The invention belongs to urban expressway traffic management technique field, and in particular to a kind of friendship based on traffic scene radar
The persistent period computational methods of interpreter's part.
Background technology
Through street carries nearly 50% traffic burden in the reason system of city, with speed is fast, closed, traffic
Once there are traffic events on the characteristics of propagation path is single, therefore through street, it will cause a certain section of through street even whole
Bar through street enters congestion state of paralysis, and then causes whole urban transportation in paralyzed state.As through street is closed
, after traffic events occur, assembly wave direction upstream section can be produced and spread so that vehicle queue constantly extends, and involves upstream
Other Entrance ramps, can seriously affect related roads traffic behavior so that urban road congestion aggravation.
The traffic information collection of urban road is the basis of urban dynamic traffic management.At present, conventional testing equipment has
Video Detection, microwave detection, Coil Detector, geomagnetism detecting, but all exist in practical application these detection meanss of all kinds
The drawbacks of.As Video Detection by light interference is larger, microwave detection response time is longer, Coil Detector can destroy road surface,
Magnetic testi is affected Jing regular datas loss etc. by radio communication.In addition, for the developing direction of current urban transportation,
The simple demand for judging whether road also can not meet traffic administration in congestion status described above, more demand is energy
Current congestion in road is solved the problems, such as enough.This is accomplished by the congestion in road time decision-making system that can have a set of convenient and efficient, can
So that when traffic events occur, can know rapidly that Current traffic event or even also needs to last long, in order to
The traffic diverging position of traffic administration person's reasonable definition cur-rent congestion road, avoids second accident and congestion so as to reach,
The impact of reduction accident and the purpose of traffic delay, to improve the level of decision-making and intelligent water of traffic administration person's event handling
It is flat.
The content of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of highly efficient efficiently based on traffic field
The persistent period computational methods of the traffic events of face radar, which is enabled to when traffic events occur, and can be known rapidly and be worked as
The front traffic events persistent period, in order to the traffic diverging position of traffic administration person's reasonable definition cur-rent congestion road, so as to reach
To generation second accident and congestion is avoided, the impact of accident and the purpose of traffic delay are reduced, to improve traffic administration person's event
The level of decision-making and intelligent level of disposal.
For achieving the above object, present invention employs technical scheme below：
A kind of persistent period computational methods of the traffic events based on traffic scene radar, it is characterised in that including following step
Suddenly：
1) traffic scene radar is installed in through street region to be measured, and debugs and set detection range；
2) with addition labelling of continuous moment along the direction of traffic in through street region to be measured, per two adjacent moment it
Between quick section formed one it is interval；Existed using all mobile vehicles in the traffic scene radar collection through street region to be measured
Point direction speed data in continuous each interval, this point of direction speed data include single mobile vehicle along parallel track side
To travel speed and vertical track direction travel speed；
3) travel speed of single mobile vehicle in an interval at the region to be measured is calculated, and then obtains institute in the interval
There is the average overall travel speed of mobile vehicle；
4) average overall travel speed according to all mobile vehicles in above-mentioned interval, judges all mobile vehicles in the interval
Average overall travel speed whether sail threshold speed less than quick road vehicles lowermost row；If it is, judging residing for the time interval
There are traffic events in interval, turn to step 5)；If it is not, then repeat step is 3)；
5), when being occurred according to traffic events, in each interval after interval residing for the traffic events, all mobile vehicles is flat
Whether travel speed, judge its average overall travel speed higher than through street normal vehicle operation threshold speed；If it is not, then holding
Continuous repeat step is 5)；If it is, entering step 6)；
6) calculate and traffic events institute should occur to earliest higher than the previous interval of interval residing for normally travel threshold speed
The interval time interval summation in place, obtains the persistent period of the traffic events；
The step 2) in,
During note t1 moment numbering be the station-keeping data of i detection vehicles be (Xt1,i,Yt1,i)；
During note t2 moment numbering be the station-keeping data of i detection vehicles be (Xt2,i,Yt2,i)；
The like, and with each two adjacent moment at intervals of 50ms；
And step 3) in, calculate single movement in first interval being made up of the time interval at t1 moment and t2 moment
The travel speed computational methods of vehicle are as follows, and each interval computation is in the same manner afterwards：
Wherein：Vi 2-1Be numbering be i detection vehicle the t1 moment and the t2 moment interval in travel speed, unit：km/h；
It is the i detection range differences that travel within t1 moment and this time period at t2 moment of vehicle that △ S are numberings；
△ t are the time differences between t1 moment and t2 moment；
In first interval be made up of the time interval at t1 moment and t2 moment, the average overall travel speed in section is calculated
Formula is as follows, and each interval computation is in the same manner afterwards：
Wherein：
N is all of detection vehicle fleet in the interval at the t1 moment and t2 moment of detection zone.
The step 4) in, the quick road vehicles lowermost row sails threshold speed for VminIf, V2-1<Vmin, then differentiate the inspection
Survey region and traffic events occur.
The step 6) in, the persistent period of described calculating traffic events comprises the following steps：
A) the average traveling of all mobile vehicles in detection zone subsequent time intervals after traffic events occur, is calculated successively
Speed V3-2, V4-3..., V(j+1)-j；
B), judge successively traffic events occur after in detection zone subsequent time intervals all mobile vehicles average traveling
Speed V3-2, V4-3..., V(j+1)-jWhether more than setting through street normal vehicle operation threshold speed Vm；
If c), V(j+1)-j>Vm, then the duration T computing formula of the traffic events be：
T=(j-1) * 50/ (1000*3600)
Wherein, T unit：h.
Main advantages of the present invention are：The characteristics of present invention sufficiently make use of the response of traffic scene radar, high precision,
The broad beam sent with which covering all tracks, with reference to traffic flow rationale, in the base for obtaining traffic events coverage
Realize on plinth that the persistent period of traffic events is defined.By aforesaid operations mode, traffic administration person when traffic events occur, energy
Enough persistent period for knowing rapidly Current traffic event, quickly and reasonably to define the traffic diverging position of cur-rent congestion road
Put, avoid second accident and congestion so as to reach, reduce the impact of accident and the purpose of traffic delay, to improve traffic pipe
The level of decision-making and intelligent level of reason person's event handling.
Description of the drawings
Fig. 1 is method of the present invention general flow chart；
Fig. 2 sets up schematic diagram for the coordinate system of traffic scene radar；
Fig. 3 is the time shafts division figure for calculating the average overall travel speed of all mobile vehicles at each interval；
Each effect point selection position view when Fig. 4 is traffic organization under traffic events.
Specific embodiment
For ease of understanding, make described further below here in connection with Fig. 1-4 pair of specific implementation process of the invention：
Should be based on the persistent period computational methods of the traffic events of traffic scene radar, as shown in Figure 1-2, its method includes
The following steps：
1) traffic scene radar is installed in through street region to be measured, and is debugged and is set detection range；
2) point direction speed data of mobile vehicle in detection zone, is obtained using traffic scene radar；
3), calculate the travel speed of single mobile vehicle in one time interval of detection zone；
4), calculate the average overall travel speed in section in one time interval of detection zone；
5) traffic events are differentiated using threshold method,；
6), calculate the persistent period of traffic events.
Traffic scene radar is covering all tracks, by range finding, angle measurement and exclusive multiple target tracking with broad beam
Being accurately positioned vehicle, to realize that target is accurately positioned, error is less than 0.25 meter to technology, and high precision, response time are short, detection
Region maximum magnitude is 240 meters.
The speed data in point direction of mobile vehicle in detection zone, for the ease of the description of specific embodiment, to ginseng
Number is following labelling：
During note t1 moment numbering be the station-keeping data of i detection vehicles be (Xt1,i,Yt1,i)；
During note t2 moment numbering be the station-keeping data of i detection vehicles be (Xt2,i,Yt2,i)；
The like, and with each two adjacent moment at intervals of 50ms.
Step 3) in, calculate single locomotive in first interval being made up of the time interval at t1 moment and t2 moment
Travel speed computational methods it is as follows, each interval computation is in the same manner afterwards：
Wherein：Vi 2-1Be numbering be i detection vehicle the t1 moment and the t2 moment interval in travel speed, unit：km/h；
In first interval be made up of the time interval at t1 moment and t2 moment, the average overall travel speed in section is calculated
Formula is as follows, and each interval computation is in the same manner afterwards：
Wherein：
N is all of detection vehicle fleet in the interval at the t1 moment and t2 moment of detection zone.
As the through street for high vehicle speeds, this sentence 10km/h as fast traffic lane the minimum travel speed of setting most
For objective, once V2-1<By threshold method, 10km/h, then differentiate that the region occurs traffic events.
The persistent period for calculating traffic events comprises the following steps.
A, the average traveling for calculating all mobile vehicles in detection zone subsequent time intervals after traffic events occur successively
Speed V3-2, V4-3,…,V(j+1)-j.As shown in figure 3, Vi 2-1X marks shown in interval are traffic events point.
B, judge successively traffic events occur after in detection zone subsequent time intervals all mobile vehicles average traveling
Speed V3-2, V4-3,…,V(j+1)-jWhether more than normal speed value 45km/h for setting.
If c, V(j+1) - j>45km/h, the then duration T (unit of the traffic events：Hour) computing formula is：
T=(j-1) * 50/ (1000*3600)
Under the premise of the process of above-mentioned road conditions, you can carry out coverage and traffic organization work under traffic events.
The coverage of traffic events is calculated, as through street is enclosed, here is retouched with length L of influence area
State the coverage of traffic events.Formula is as follows：
Wherein：
There is no the average overall travel speed in section during traffic events, this is statistical data, by traffic scene
The historical data statistics of the speed of detections of radar is obtained.
T：The persistent period of traffic events.
Lq：Due to the queue length that traffic events cause.The queue length data traffic scene radar can be directly detected
, but its detection range only has 240m, needs to calculate by formula below if super going beyond the scope.
LqThe computing formula of queue length：
Wherein, T is the traffic events persistent period；Q is that the front section multilane traffic flow of section of traffic events, the ginseng occur
Number can be obtained by the data on flows of the detection to traffic scene radar statistics；Qmax is section basic capacity, here
Qmax=2100*N (N is number of track-lines), unit：pch/h；QfThe actual capacity in section.Actual capacity is actual fortune
The traffic capacity under the conditions of row, unit：Pch/h, computing formula are as follows：
Qf=Qmax*fcw*fsw*fhv, wherein, fcwIt is driving correction factor of the width to the traffic capacity；fswIt is side clearway pair
The correction factor of the traffic capacity；fhvIt is the correction factor of the paired traffic capacity of traffic group.
Traffic organization under traffic events, namely affect the Entrance ramp for involving to carry out traffic diverging and pipe for traffic events
Reason, it is to avoid so that vehicle queue is worse off.
After generation vehicle accident, the essential information of traffic events need to be informed in the application point section that can carry out traffic organization and be adopted
Corresponding measure is taken, the loss that traffic events are caused is reduced, alleviates traffic congestion, reduce traffic delay.Its traffic organization process
Comprise the following steps：
A, application point classification
It is different with the traffic organization measures taken according to its influence degree, application point is divided three classes：Information alert point, limit
Flow point, throttle point.
Information alert point is the Entrance ramp for being in the upstream section that traffic events occur, not by traffic events shadow
Ring, it is not necessary to take compulsory measure, need to only remind.
Current-limiting points be by affecting that traffic events are affected, but the upstream section of event is not affected by queue length
Entrance ramp, need restricted part wagon flow to sail into.
It is a little the Entrance ramp in by the queue length upstream section affected by event to dam, and forbids wagon flow to sail into.
The differentiation of b, effect vertex type
1) certain Entrance ramp of section upstream, is selected, and the Entrance ramp is then calculated to traffic events present position
Apart from li, it is as follows apart from publicity：
Wherein：(x, y) is the position coordinateses of traffic events；(xi,yi) be i-th Entrance ramp in event upstream section position
Put coordinate.
(2), differentiation effect vertex type：
If li≤Lq, then i-th of event upstream section Entrance ramp is to dam a little；
If Lq<li≤ L, then i-th of event upstream section Entrance ramp is current-limiting points；
If li>L, then i-th of event upstream section Entrance ramp is information alert point.
The selection position of each application point is as shown in Figure 4.
On the basis of the above, you can take corresponding traffic organization measures for the function difference of all kinds of application points：
1), information alert point：The traffic organization measures of information guiding are taken, prompting vehicle is issued by induced screen and is sailed with caution
Enter the information of the ring road, it is proposed which detours；
2), current-limiting points：Take the traffic organization measures of current limliting, restricted part vehicle is sailed into.
3), dam a little:The traffic organization measures for damming are taken, all vehicle entrance ramps are limited.
Embodiment：
Traffic scene radar patent embodiment：
1) traffic scene radar is installed in through street region to be measured, and is debugged and is set detection range.
2) point direction speed data of the moving target in detection zone, default objects, are obtained by traffic scene radar
Vehicle is target vehicle 1 and target vehicle 2, rear vehicle by that analogy；
The t1 moment：The station-keeping data (2.44,1.19) of target vehicle 1；The station-keeping data of target vehicle 2
(2.40,1.15)；
The t2 moment：The station-keeping data (2.41,1.17) of target vehicle 1；The station-keeping data of target vehicle 2
(2.36,1.11).
3), calculate the travel speed of single mobile vehicle in one time interval of detection zone namely an interval：
Now, the translational speed of target 1：
The translational speed of target 2：
4) all vehicles for, calculating detection zone section in this time interval of detection zone t1 to t2 moment are averagely travelled
Speed：
5) traffic events are differentiated using threshold method,；Due to V2-1<There is emergent traffic incident in 10km/h, the section.
6) the average traveling of all mobile vehicles in detection zone subsequent time intervals after traffic events occur, is calculated successively
Speed：
V3-2=3.76km/h；V4-3=5.12km/h；V5-4=5.11km/h；V6-5=5.02km/h；
V6-7=5.13km/h；…；V10001-10000=15.12km/h；V10002-10001=20.81km/h；
V10003-10002=30km/h；…；V20001-20000=39.8km/h；V20002-20001=42.88km/h；
V20003-20002=43.6km/h；…；V20102-20101=45.2km/h
7) persistent period of traffic events, is calculated, due to V20102-20101=45.2km/h>45km/h, the then traffic events
Duration T be：
* 50/ (1000*3600)=0.27h of T=(20102-1)
8), influence area calculates：
The queue length that current event is caused is 198 meters, in the range of traffic scene detections of radar；Generation traffic events
When the section the period average overall travel speed be 50km/h, so the influence area length of traffic events is：
9), traffic organization effect vertex type determines：
The detection zone upstream road has 7 Entrance ramps, is designated as ring road 1, ring road 2, ring road 3, ring road 4, ring road respectively
5th, ring road 6, ring road 7, the distance of corresponding distance to love scene is：150 meters, 500 meters, 2500 meters, 7500 meters, 10550 meters,
13500 meters, 16000 meters.
The rule of vertex type is acted on according to differentiation：
The ring road 1 that queue length is caused less than 198m current events is to dam a little；Influence area positioned at traffic events is long
Ring road 2, ring road 3 at degree, ring road 4, ring road 5, ring road 6 are current-limiting points；And ring road 7 is information alert point.
10) traffic organization measures, taken：
1), ring road 7：The traffic organization measures of information guiding are taken, prompting vehicle is issued by induced screen and is sailed this with caution into
The information of ring road, it is proposed which detours；
2), ring road 2, ring road 3, ring road 4, ring road 5, ring road 6：Take the traffic organization measures of current limliting, restricted part vehicle
Sail into.
3), ring road 1:The traffic organization measures for damming are taken, all vehicle entrance ramps are limited.
Claims (3)
1. a kind of persistent period computational methods of the traffic events based on traffic scene radar, it is characterised in that including following step
Suddenly：
1) traffic scene radar is installed in through street region to be measured, and debugs and set detection range；
2) with addition labelling of continuous moment along the direction of traffic in through street region to be measured, per two adjacent moment between
Quick section formation one is interval；Using all mobile vehicles in the traffic scene radar collection through street region to be measured continuous
Each interval in point direction speed data, this point of direction speed data include single mobile vehicle along parallel track direction
The travel speed of travel speed and vertical track direction；
3) travel speed of single mobile vehicle in an interval at the region to be measured is calculated, and then obtains all shiftings in the interval
The average overall travel speed of motor-car；
4) average overall travel speed according to all mobile vehicles in above-mentioned interval, judges putting down for all mobile vehicles in the interval
Whether travel speed sails threshold speed less than quick road vehicles lowermost row；If it is, judging interval residing for the time interval
Interior generation traffic events, turn to step 5)；If it is not, then repeat step is 3)；
5) when being occurred according to traffic events, the average row of each interval interior all mobile vehicles after interval residing for the traffic events
Speed is sailed, judges its average overall travel speed whether higher than through street normal vehicle operation threshold speed；If it is not, then continuing weight
Multiple step 5)；If it is, entering step 6)；
6) calculate and area residing for traffic events should occur to earliest higher than the previous interval of interval residing for normally travel threshold speed
Between time interval summation, obtain the persistent period of the traffic events；
The step 2) in,
During note t1 moment numbering be the station-keeping data of i detection vehicles be (Xt1,i,Yt1,i)；
During note t2 moment numbering be the station-keeping data of i detection vehicles be (Xt2,i,Yt2,i)；
The like, and with each two adjacent moment at intervals of 50ms；
And step 3) in, calculate single mobile vehicle in first interval being made up of the time interval at t1 moment and t2 moment
Travel speed computational methods it is as follows, each interval computation is in the same manner afterwards：
Wherein：Vi 2-1Be numbering be i detection vehicle the t1 moment and the t2 moment interval in travel speed, unit：km/h；
It is the i detection range differences that travel within t1 moment and this time period at t2 moment of vehicle that △ S are numberings；
△ t are the time differences between t1 moment and t2 moment；
The average overall travel speed computing formula in section in first interval be made up of the time interval at t1 moment and t2 moment
As follows, each interval computation is in the same manner afterwards：
Wherein：
N is all of detection vehicle fleet in the interval at the t1 moment and t2 moment of detection zone.
2. persistent period computational methods of a kind of traffic events based on traffic scene radar according to claim 1, its
It is characterised by：The step 4) in, the quick road vehicles lowermost row sails threshold speed for VminIf, V2-1<Vmin, then differentiating should
There are traffic events in detection zone.
3. persistent period computational methods of a kind of traffic events based on traffic scene radar according to claim 1, its
It is characterised by：The step 6) in, the persistent period of described calculating traffic events comprises the following steps：
A) average overall travel speed of all mobile vehicles in detection zone subsequent time intervals after traffic events occur, is calculated successively
V3-2, V4-3..., V(j+1)-j；
B), judge successively traffic events occur after in detection zone subsequent time intervals all mobile vehicles average overall travel speed
V3-2, V4-3..., V(j+1)-jWhether more than setting through street normal vehicle operation threshold speed Vm；
If c), V(j+1)-j>Vm, then the duration T computing formula of the traffic events be：
T=(j-1) * 50/ (1000*3600)
Wherein, T unit：h.
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