CN105160894A - Planar crossroad signal control optimization method based on vehicle queue length - Google Patents
Planar crossroad signal control optimization method based on vehicle queue length Download PDFInfo
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Abstract
The invention provides a planar crossroad signal control optimization method based on a vehicle queue length. By means of the method, the problem that currently only one traffic signal control optimization method is adopted and the crossroad real signal control optimization demands cannot be satisfied is solved. The method comprises the following steps of acquiring the start queue length lsij of each flow direction of a crossroad when a green light phase starts and the remaining queue length leij when the green light phase stops, wherein, the i is a signal phase sequence number and can be 1, 2, 3, 4, and j is the green light flow entry road direction inside the phase and can be E, W, S, N; (2) calculating the acceptable green time ratio Paij of each flow direction of the crossroad; (3) judging whether the crossroad requires phase congruency setting and determining the phase congruency duration if the crossroad requires phase congruency setting; (4) and optimizing the crossroad signal timing scheme according to the judgment result in the step (3).
Description
Technical field
The present invention relates to urban road transportation control technical field, especially relate to intersection signal control field, be specially the optimization method that the At-grade intersection signal based on vehicle queue length controls.
Background technology
Along with the fast development of China's economy, Urban vehicles poputation increases fast, and traffic congestion occurrence frequency is more and more higher, to go on a journey the adverse effect brought to the daily life of city dweller.The signal timing plan optimizing existing level-crossing is a kind of low cost, high effect control blocking method, receive and increasing pay attention to and drop into.
At present, the optimization method of traffic signalization comprises phase-relate optimization method and signal timing optimization method, wherein phase-relate optimization method is by optimizing each operational efficiency flowing to the clearance order raising crossing of traffic flow in crossing, as set up protection left turn phase, superposition phase etc.; Signal timing optimization method is then the traffic loading respectively flowed to equilibrium the duration by optimizing each phase place, improve intersection service level, as utilize Robert Webster (Webster) method or Shanghai City specifications of engineering construction " Intersection at Grade of Urban Road program and design code " the timing method recommended carry out timing designing calculating.
But, day by day serious along with city sooner or later peak traffic congestion problems, only adopt single phase-relate optimization method or single signal timing optimization method effectively cannot prevent the generation of supersaturation in intersection to the optimization carrying out signal control, therefore also cannot meet the optimization requirement that existing crossroad signal controls.
Summary of the invention
For the problems referred to above, the invention provides the optimization method that the At-grade intersection signal based on vehicle queue length controls, it can solve the problem only adopting single traffic signalization optimization method cannot meet intersection actual signal control and optimize at present to require.
Based on the optimization method that the At-grade intersection signal of vehicle queue length controls, it is characterized in that: it comprises the following steps,
(1) acquisition intersection respectively flows to the initial queue length when its clearance phase place starts
with the residue queue length at the end of clearance phase place
wherein, i is signal phase sequence number, and i=1,2,3,4, j are that the clearance in this phase place flows to entrance driveway direction, j=E, W, S, N;
(2) calculate intersection respectively to flow to and can accept split
(3) judge whether crossing will carry out superposition phase setting, if desired superposition phase arranges and then determines the superposition phase duration;
(4) intersection signal timing scheme is optimized according to the judged result of described step (3).
Further, the concrete steps of described step (2) are: first obtain the saturated green time that crossing respectively flows to
calculate crossing respectively to flow to and can accept green time
finally calculating each flow direction again can accept split
described saturated green time refers in Phase Duration, lets pass and flows to queuing vehicle with the duration of saturation headway by stop line;
Further, if
then judge that respective streams is to as unsaturated flow, the crossing under unsaturated flow flows to can accept green time
if
then judge that respective streams is to as supersaturation stream, the crossing that supersaturation flows down flows to can accept green time
wherein g
ifor the duration of phase place i,
for respective streams is to the Minimum Green Time obtained according to crossing geometric properties;
Described each flow direction can accept split
wherein T is the Cycle Length of crossing present situation signal timing dial.
Further, the concrete steps of described step (3) are:
Step 3.1, can accept value larger in split using the flow direction of letting pass in each phase place and can accept split as phase place
Step 3.2, can accept split according to described phase place
judge crossing whether supersaturation, if
existing signal timing plan unsaturation, then directly perform described step (4); If
existing signal timing plan supersaturation, performs step 3.3;
Step 3.3, defining during the clearance of each phase place flows to and can accepting the larger flow direction of split is that phase place primarily flows to, and the less flow direction is phase place minor movement, and phase place is primarily flowed to the ratio of the accepted green time of minor movement as phase flow to equilibrium ratio
using phase flow to the maximum phase place of equilibrium ratio as crossing crucial non-equilibrium phase place, then the phase flow of the crucial non-equilibrium phase place in described crossing is to equilibrium ratio
Step 3.4, according to the phase flow of the crucial non-flat jayrator in described crossing to equilibrium ratio
judge whether to there is traffic tidal phenomena, if
then judge there is not traffic tidal phenomena, directly perform described step (4); If
then judge to there is traffic tidal phenomena;
Step 3.5, after judgement exists traffic tidal phenomena, then whether unanimously what judge potential superposition phase upstream and downstream conventional phase primarily flows to place entrance driveway, and concrete steps are:
Step 3.5a: if the clearance of crucial non-equilibrium phase place flows to as keeping straight on, proceed to step 3.5b; If the clearance of crucial non-equilibrium phase place flows to as turning left, proceed to step 3.5c;
Step 3.5b: check that whether the primary flow direction of crucial non-equilibrium phase place is identical with the entrance driveway direction of the primary flow direction of next phase place, if identical, after the non-equilibrium phase place of key, providing superposition phase for primarily flowing to entrance driveway direction, and calculating superposition phase duration g
d; If not identical, proceed to step (4);
Step 3.5c: check that whether the primary flow direction of crucial non-equilibrium phase place is identical with the entrance driveway direction of the primary flow direction of a upper phase place, if identical, before the non-equilibrium phase place of key, providing superposition phase for primarily flowing to entrance driveway direction, and calculating superposition phase duration g
d; If not identical, proceed to step (4);
The described superposition phase duration
wherein,
for the accepted green time that the non-equilibrium phase place of key primarily flows to;
Further, the concrete steps of described step (4) are: if do not perform superposition phase, calculate each Phase Duration when not performing superposition phase
wherein
for the accepted green time primarily flowed to for original signal control program corresponding phase; If execution superposition phase, order is let pass and to be flowed to and the keep straight on sequence number flowing to overlapping signal phase of letting pass of superposition phase is k=1, the sequence number of superposition phase is k=2, letting pass and flowing to the sequence number turning left to let pass to flow to overlapping signal phase with superposition phase is k=3, letting pass and flowing to the sequence number flowing to overlapping signal phase of not letting pass with superposition phase is k=4,5; Calculate each Phase Duration when performing superposition phase
computing formula is
Wherein,
for the accepted green time of original signal control program corresponding phase minor movement,
for the accepted green time that original signal control program corresponding phase primarily flows to; Last calculation optimization regimen cycle length
Further, it obtains described intersection respectively flow to initial queue length when its clearance phase place starts by being laid in HD video wagon detector above each entrance driveway stop line of crossing
with the residue queue length at the end of clearance phase place
The optimization method that At-grade intersection signal based on vehicle queue length of the present invention controls, it can realize the coordination optimization of phase-relate and signal timing dial, to tidal phenomena obviously but can realize by signal timing optimization the crossing that supersaturation controls and will not arrange superposition phase, to raise the cost benefit reduce the current puzzlement that driver causes because of superposition phase; In addition, the present invention carries out the optimization of timing scheme by the queue length that HD video wagon detector obtains, avoid the flow that supersaturation brings and be difficult to acquisition problem, there is better convenience and accuracy, thus effectively can improve the signal timing optimization effect of oversaturated intersection; Simultaneously, it achieves the accurate Calculation of superposition phase duration and superposition phase upstream and downstream conventional phase duration to the introducing of equilibrium ratio by phase flow, the duration of superposition phase can be calculated according to crossing running status, enormously simplify the timing designing process of superposition phase signaling plan.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the optimization method that the At-grade intersection signal that the present invention is based on vehicle queue length controls;
Fig. 2 is the schematic diagram of superposition phase action principle;
Fig. 3 is the superposition phase judgment mechanism process flow diagram of step (3) in the inventive method;
Fig. 4 is the schematic diagram of crossing interior vehicle driving trace correlation parameter;
Fig. 5 is the front and back control program corresponding relation schematic diagram after adopting the inventive method to perform superposition phase.
Embodiment
Control crossing below in conjunction with accompanying drawing for four phase signals to control, specifically describe the implementation procedure of inventive method:
First, control crossing at four phase signals, install the HD video wagon detector for recording each track vehicle number and vehicle queue length, teleseme and signal lamp, HD video wagon detector is laid in above each entrance driveway stop line;
(1) obtain intersection respectively flow to initial queue length when its clearance phase place starts by being laid in HD video wagon detector above each entrance driveway stop line of crossing
with the residue queue length at the end of clearance phase place
wherein, i is signal phase sequence number, and i=1,2,3,4, j are that the clearance in this phase place flows to entrance driveway direction, j=E, W, S, N.
(2) calculate intersection respectively to flow to and can accept split
by the saturated green time that HD video detector acquisition crossing respectively flows to
saturated green time refers in Phase Duration, lets pass and flows to queuing vehicle with the duration of saturation headway by stop line, if
then respective streams is to being unsaturated flow, there is not secondary queuing phenomena, and the crossing under unsaturated flow flows to can accept green time
for respective streams is to the Minimum Green Time obtained according to crossing geometric properties, 1.1 is constant term, flows to saturation degree be no more than 0.9 for meeting, and the degree of confidence ensureing to flow to without parking twice probability is higher than 95%; If
then respective streams is to being supersaturation stream, there is secondary queuing phenomena, and the crossing that supersaturation flows down flows to can accept green time
wherein g
ifor the duration of phase place i, 1.1 is constant term, flows to saturation degree be no more than 0.9 for meeting; Calculate each flow direction again and can accept split
wherein T is the Cycle Length of crossing present situation signal timing dial;
Wherein, phase place Minimum Green Time is relevant to crossing geometric properties, and the correlation parameter being mainly vehicle inner driving trace in crossing has L
1with L
2, see Fig. 4, in Fig. 4, A is exit ramp reference position, and B is stop line mark,
L
1for through vehicles is at the driving path of inside, crossing, be the air line distance between stop line to craspedodrome exit ramp reference position; L
2be then the driving path of left turning vehicle in inside, crossing, computing formula is L
2=π r/2, wherein r is the air line distance between left turn lane stop line mid point to left side kerbstone.
Therefore, the computing formula obtaining phase place Minimum Green Time is:
wherein, v is crossing desired speed;
Wherein, the determination of saturation headway: the crossing queuing vehicle arrived at red interval, during green light is let pass, start several vehicles by certain startup lost time can be caused because of the course of reaction of driver, the accelerator of vehicle during stop line, according to the research of pertinent literature, startup lost time of China crossing is 4 seconds.Simultaneously, when queuing vehicle is by stop line, after starting the change of several vehicle headstock distances, the time headway of subsequent vehicle tends towards stability, queuing vehicle will pass through stop line with saturation headway, according to the research of pertinent literature, the saturation headway of China's crossing queuing vehicle was at about 2 seconds.The present invention adopts saturation headway degree of confidence 3.8 seconds critical values as video detector saturation headway of 95%, to increase accuracy in detection.
(3) crossing superposition phase arranges judgement, superposition phase is also called combinatorial phase, the i.e. one or more strands of wagon flows of another phase place of pre-cooling before certain conventional phase terminates, make to exist between two continuous conventional phase to partly overlap, this lap is referred to as superposition phase, and the use of superposition phase better can utilize green time, increases intersection capacity, improve traffic efficiency, see Fig. 2 and Fig. 3:
Step 3.1, can accept value larger in split using the flow direction of letting pass in each phase place and can accept split as phase place
Step 3.2, can accept split according to phase place
judge crossing whether supersaturation, if
existing signal timing plan unsaturation, without the demand increasing intersection capacity, from control crossing complexity, improves crossing safety angle and sets out, do not give superposition phase, terminate to judge flow process, directly perform described step (4); If
existing signal timing plan supersaturation, has the demand being reduced intersection saturation degree by superposition phase, performs step 3.3;
Step 3.3, defining during the clearance of each phase place flows to and can accepting the larger flow direction of split is that phase place primarily flows to, and the less flow direction is phase place minor movement, and phase place is primarily flowed to the ratio of the accepted green time of minor movement as phase flow to equilibrium ratio
using phase flow to the maximum phase place of equilibrium ratio as crossing crucial non-equilibrium phase place, then the phase flow of the crucial non-equilibrium phase place in crossing is to equilibrium ratio
Step 3.4, according to the phase flow of the crucial non-flat jayrator in described crossing to equilibrium ratio
judge whether to there is traffic tidal phenomena, if
then setting up the DeGrain of superposition phase, from arranging mechanistic point, not giving superposition phase, judge there is not traffic tidal phenomena, directly perform described step (4); If
illustrate that the difference in flow distance in a certain phase place between the primary flow direction and minor movement is comparatively large, there is traffic tidal phenomena, setting up superposition phase has good specific aim, continues to perform step 3.5;
Step 3.5, after there is traffic tidal phenomena in judgement, then judge potential superposition phase upstream and downstream conventional phase whether primarily flow to place entrance driveway consistent, if consistent, what superposition phase was described sets up the duration that simultaneously can reduce upstream and downstream conventional phase, thus reduce T.T. in cycle, realize the increase of traffic efficiency, proceed to step 6, if inconsistent, what superposition phase was then described sets up the duration that can only reduce crucial non-equilibrium phase place, but T.T. in cycle cannot be reduced, traffic efficiency amplification is less, from cost benefit angle, do not give superposition phase, concrete steps are:
Step 3.5a: if the clearance of crucial non-equilibrium phase place flows to as keeping straight on, proceed to step 3.5b; If the clearance of crucial non-equilibrium phase place flows to as turning left, proceed to step 3.5c;
Step 3.5b: check that whether the primary flow direction of crucial non-equilibrium phase place is identical with the entrance driveway direction of the primary flow direction of next phase place, if identical, after the non-equilibrium phase place of key, providing superposition phase for primarily flowing to entrance driveway direction, and calculating superposition phase duration g
d; If not identical, proceed to step (4);
Step 3.5c: check that whether the primary flow direction of crucial non-equilibrium phase place is identical with the entrance driveway direction of the primary flow direction of a upper phase place, if identical, before the non-equilibrium phase place of key, providing superposition phase for primarily flowing to entrance driveway direction, and calculating superposition phase duration g
d; If not identical, proceed to step (4);
The described superposition phase duration
wherein,
for the accepted green time that the non-equilibrium phase place of key primarily flows to.
(4) optimize intersection signal timing scheme according to the judged result of described step (3): see Fig. 5, if do not perform superposition phase, calculate each Phase Duration when not performing superposition phase
wherein
for the accepted green time primarily flowed to for original signal control program corresponding phase; If execution superposition phase, order is let pass and to be flowed to and the keep straight on sequence number flowing to overlapping signal phase of letting pass of superposition phase is k=1, the sequence number of superposition phase is k=2, letting pass and flowing to the sequence number turning left to let pass to flow to overlapping signal phase with superposition phase is k=3, letting pass and flowing to the sequence number flowing to overlapping signal phase of not letting pass with superposition phase is k=4,5; Calculate each Phase Duration when performing superposition phase
computing formula is
wherein,
for the accepted green time of original signal control program corresponding phase minor movement,
for the accepted green time that original signal control program corresponding phase primarily flows to; Last calculation optimization regimen cycle length
Claims (8)
1., based on the optimization method that the At-grade intersection signal of vehicle queue length controls, it is characterized in that: it comprises the following steps,
(1) acquisition intersection respectively flows to the initial queue length when its clearance phase place starts
with the residue queue length at the end of clearance phase place
wherein, i is signal phase sequence number, and i=1,2,3,4, j are that the clearance in this phase place flows to entrance driveway direction, j=E, W, S, N;
(2) calculate intersection respectively to flow to and can accept split
(3) judge whether crossing will carry out superposition phase setting, if desired superposition phase arranges and then determines the superposition phase duration;
(4) intersection signal timing scheme is optimized according to the judged result of described step (3).
2. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 1, is characterized in that: the concrete steps of described step (2) are: first obtain the saturated green time that crossing respectively flows to
calculate crossing respectively to flow to and can accept green time
finally calculating each flow direction again can accept split
described saturated green time refers in Phase Duration, lets pass and flows to queuing vehicle with the duration of saturation headway by stop line.
3. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 2, is characterized in that: if
then judge that respective streams is to as unsaturated flow, the crossing under unsaturated flow flows to can accept green time
if
then judge that respective streams is to as supersaturation stream, the crossing that supersaturation flows down flows to can accept green time
wherein g
ifor the duration of phase place i,
for respective streams is to the Minimum Green Time obtained according to crossing geometric properties.
4. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 3, is characterized in that: described each flow direction can accept split
wherein T is the Cycle Length of crossing present situation signal timing dial.
5. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 4, is characterized in that: the concrete steps of described step (3) are,
Step 3.1, can accept value larger in split using the flow direction of letting pass in each phase place and can accept split as phase place
Step 3.2, can accept split according to described phase place
judge crossing whether supersaturation, if
existing signal timing plan unsaturation, then directly perform described step (4); If
existing signal timing plan supersaturation, performs step 3.3;
Step 3.3, defining during the clearance of each phase place flows to and can accepting the larger flow direction of split is that phase place primarily flows to, and the less flow direction is phase place minor movement, and phase place is primarily flowed to the ratio of the accepted green time of minor movement as phase flow to equilibrium ratio
using phase flow to the maximum phase place of equilibrium ratio as crossing crucial non-equilibrium phase place, then the phase flow of the crucial non-equilibrium phase place in described crossing is to equilibrium ratio
Step 3.4, according to the phase flow of the crucial non-flat jayrator in described crossing to equilibrium ratio
judge whether to there is traffic tidal phenomena, if
then judge there is not traffic tidal phenomena, directly perform described step (4); If
then judge to there is traffic tidal phenomena;
Step 3.5, after judgement exists traffic tidal phenomena, then whether unanimously what judge potential superposition phase upstream and downstream conventional phase primarily flows to place entrance driveway, and concrete steps are:
Step 3.5a: if the clearance of crucial non-equilibrium phase place flows to as keeping straight on, proceed to step 3.5b; If the clearance of crucial non-equilibrium phase place flows to as turning left, proceed to step 3.5c;
Step 3.5b: check that whether the primary flow direction of crucial non-equilibrium phase place is identical with the entrance driveway direction of the primary flow direction of next phase place, if identical, after the non-equilibrium phase place of key, providing superposition phase for primarily flowing to entrance driveway direction, and calculating superposition phase duration g
d; If not identical, proceed to step (4);
Step 3.5c: check that whether the primary flow direction of crucial non-equilibrium phase place is identical with the entrance driveway direction of the primary flow direction of a upper phase place, if identical, before the non-equilibrium phase place of key, providing superposition phase for primarily flowing to entrance driveway direction, and calculating superposition phase duration g
d; If not identical, proceed to step (4).
6. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 5, is characterized in that: the described superposition phase duration
wherein,
for the accepted green time that the non-equilibrium phase place of key primarily flows to.
7. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 6, it is characterized in that: the concrete steps of described step (4) are: if do not perform superposition phase, calculate each Phase Duration when not performing superposition phase
wherein
for the accepted green time primarily flowed to for original signal control program corresponding phase; If execution superposition phase, order is let pass and to be flowed to and the keep straight on sequence number flowing to overlapping signal phase of letting pass of superposition phase is k=1, the sequence number of superposition phase is k=2, letting pass and flowing to the sequence number turning left to let pass to flow to overlapping signal phase with superposition phase is k=3, letting pass and flowing to the sequence number flowing to overlapping signal phase of not letting pass with superposition phase is k=4,5; Calculate each Phase Duration when performing superposition phase
computing formula is
Wherein,
for the accepted green time of original signal control program corresponding phase minor movement,
for the accepted green time that original signal control program corresponding phase primarily flows to; Last calculation optimization regimen cycle length
8. the optimization method that controls of the At-grade intersection signal based on vehicle queue length according to claim 1, is characterized in that: it obtains described intersection respectively flow to initial queue length when its clearance phase place starts by being laid in HD video wagon detector above each entrance driveway stop line of crossing
with the residue queue length at the end of clearance phase place
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