CN105513357B - A kind of traffic flow parent map parameter calibration method based on microwave data - Google Patents
A kind of traffic flow parent map parameter calibration method based on microwave data Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0125—Traffic data processing
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Abstract
The present invention relates to a kind of traffic flow parent map parameter calibration method based on microwave data, first, initial data is read in, then, set equivalent vehicle commander, calculate density value；Second, set the ratio d of equivalent vehicle commander's adjustmentlReject the ratio d shared by noisepAnd reject the bandwidth d of noisem, limits of error threshold value critical densityTraffic capacity eC, jam density3rd, equal proportion rejects the noise of the critical density left and right sides, it is ensured that rejects noise scope and is no more than maximum bandwidth；4th, to front and rear two sections progress linear fits, first paragraph fitting requires the straight-line pass origin after fitting, and second segment fitting requires the straight-line pass jam density value point after fitting.Finally, judge whether each parameter value after fitting meets the condition of convergence；If meeting convergence bar adjusts equivalent vehicle commander, and recalculates density, the 3rd step is transferred to.The inventive method is simple and effective, is easy to operation, solves the applicable confinement problems of existing traffic parameter scaling method.
Description
Technical field
The present invention relates to Traffic Information Engineering ＆ Control field, more particularly to a kind of traffic flow based on microwave data are basic
Graph parameter scaling method.
Background technology
In recent years, because meteorological disaster caused natural calamity occurred frequently is more and more.On present society industry-by-industry for
The construction of emergency communication system is paid much attention to, when existing emergency communication system meets reply disaster and emergent accident
Business demand.But there is also the challenge of some business：(1) video still has scarce in terms of moving the comprehensive access of air-ground one
Fall into, it is necessary to build a set of removable and the unmanned plane remote video capturing system of existing emergency commading system can be incorporated, as
A kind of extension of conventional video signals acquisition mode；(2) simultaneously as the eccentricity of disaster spot and disguise, meet an urgent need logical
The transmission of wireless signals of letter system often receives mountain, building etc. and blocked, and influences the transmission quality and business of radio channel
Flexibility.Existing emergency communication system can reach 5-10km signal covering, but China is vast in territory, and physical features is complicated, electric power
Tower line is often distributed in meagrely-populated gully, is stopped serious and is difficult to reach；It is badly in need of by the way of aerial signal relaying
Erect inside and outside radio communication bridge.
The content of the invention
The present invention is to overcome above-mentioned weak point, it is therefore intended that provide a kind of traffic flow parent map based on microwave data
Parameter calibration method, the present invention carries out data analysis and the demarcation of parameter on this basis by obtaining microwave data；This hair
Bright method is simple and effective, be easy to operation, overcome traditional parameter calibration method may not apply to complex condition city it is fast
The deficiency of fast road parameter calibration, solves the applicable confinement problems of existing traffic parameter scaling method.
The present invention is to reach above-mentioned purpose by the following technical programs：A kind of traffic flow parent map ginseng based on microwave data
Number scaling method, including step are as follows：
(1) raw microwave data are read, equivalent vehicle commander's initial value and scope is set；
(2) density value K is calculated with equivalent vehicle commander using raw microwave data, makes the close parent map of stream；
(3) the ratio d of equivalent vehicle commander's adjustment is setl, reject the ratio d shared by noisep, reject noise bandwidth dm, error
Limit threshold value critical densityLimits of error threshold value traffic capacity eC, limits of error threshold blocking densityWherein, KcTo be critical close
Degree；C is the traffic capacity；KmFor jam density；
(4) using the flow maximum in raw microwave data as the initial traffic capacity, with flow in raw microwave data
Density value corresponding to maximum is used as critical intensity value；
(5) equal proportion rejects the noise of the critical intensity value left and right sides, and the critical intensity value calculated after rejecting noise is left
Right both sides boundary value；
(6) linear fit is carried out to critical intensity value left data and right side data respectively, and judges each ginseng after fitting
Whether numerical value meets the condition of convergence；
(7) if meeting the condition of convergence, parameter calibration result is obtained, demarcation terminates；If being unsatisfactory for the condition of convergence, judge
Whether two fitting a straight lines are intersecting at critical intensity value, and equivalent vehicle commander is adjusted according to judged result, recalculated
Density value Posterior circle performs step (5) to step (7).
Preferably, the raw microwave data include flow q, time occupancy Occu, speed v.
Preferably, the equivalent vehicle commander L initial values are 8m, scope is 8m≤L≤10m.
Preferably, the calculation formula of step (2) the density value K is as follows：
Wherein, K is density, and Occu is occupation rate, and L is equivalent vehicle commander.
Preferably, the step (5) rejects the noise of the critical intensity value left and right sides, side using equal proportion elimination method
Method is as follows：
(a) length calculated shared by the ratio that point is rejected on the left of critical intensity value is dp·Kc(i), on the right side of critical intensity value
It is d to reject the length shared by the ratio of pointp·(Km(i)-Kc(i))；
(b) maximum bandwidth of of length no more than rejecting noise shared by point is rejected for guarantee, a width of min of rejecting noise band is taken
(dm,dp·Kc(i)), min (dm,dp·(Km(i)-Kc(i)))；Wherein, i=1,2,3...... be iterations.
Preferably, the step (6) carries out linear fit to critical intensity value left data and right side data respectively
Method is that obtained fitting a straight line is fitted to critical intensity value left data by origin, and data on the right side of critical intensity value are fitted
Obtained fitting a straight line passes through jam density value point.
Preferably, the described condition of convergence is as follows：
(i)
(ii)|C(i+1)-C(i)|≤eC；
(iii)
Preferably, the parameter calibration result that the step (7) obtains includes：Free stream velocity Vf, road section capacity
C, dissipation velocity of wave W, jam density Km。
Preferably, the step (7) is adjusted according to judged result to equivalent vehicle commander, it is as follows：
If 1)Then L (i+1)=L (i) (1+dl)；
If 2)Then L (i+1)=L (i) (1-dl)；
Wherein, the equivalent vehicle commander after adjustment is also needed to carry out threshold range judgement, if L (i+1) >=10, fixes equivalent car
A length of 10；If L (i+1)≤8, it is 8 to fix equivalent vehicle commander.
Preferably, the slope that obtained fitting a straight line is fitted to critical intensity value left data is free stream velocity
Vf；Slope to the fitting a straight line that data fitting is obtained on the right side of critical intensity value is dissipation velocity of wave W, and the intersection point of itself and X-axis is resistance
Fill in density Km；The intersection point of two fitting a straight lines is road section capacity C.
The beneficial effects of the present invention are：(1) this method proposes the concept of equivalent vehicle commander, utilizes time occupancy and equivalent
Vehicle commander calculates density, the relevant parameter of parent map is demarcated afterwards, method is simple and effective, is easy to operation；(2) this method gram
The city expressway parameter that traditional parameter calibration method based on highway data may not apply to complex condition is taken
The deficiency of demarcation, solves the applicable confinement problems of existing traffic parameter scaling method.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the inventive method；
Fig. 2 is the close parent map of stream of the embodiment of the present invention based on microwave data；
Fig. 3 is the elimination method schematic diagram of the adjustment of critical density of the embodiment of the present invention and noise；
Fig. 4 is the calibration result schematic diagram of the embodiment of the present invention.
Embodiment
With reference to specific embodiment, the present invention is described further, but protection scope of the present invention is not limited in
This：
Embodiment：The embodiment of the present invention is to detect that data are implemented based on the microwave for having obtained city expressway, with we
Data instance used in method, acquisition time was 24 hours one day, every the microwave data of 5 minutes, mainly including flow, speed
Spend, the field such as time occupancy.
As shown in figure 1, a kind of traffic flow parent map parameter calibration method based on microwave data, including step are as follows
(1) reading in initial data includes flow q, time occupancy Occu, and speed v；
(2) initial equivalent vehicle commander L=8m is set, density value is calculated using equivalent vehicle commander；
Specific derivation process is as follows：
For single unit vehicle, the time spent on the detector is the speed v by single unit vehiclei, vehicle commander liAnd detection
The length d decisions of device in itself, i=1,2,3......n be i-th car：
The molecule denominator of above formula Section 2 is multiplied by N simultaneously, then by flow definition and section mean speedExpression formula
Substitution can be obtained：
By fundamental formularSubstitute into：
Wherein T is the summation of time headway, and K is density.By the molecule denominator of above formula simultaneously divided by N obtain：
It is assumed that length of wagon l takes definite value, then above formula can using abbreviation as：
In formula：L-length of wagon and detector length sum, i.e., equivalent vehicle commander.
It can thus be concluded that：
Wherein：K is density, and Occu is occupation rate, and L is equivalent vehicle commander.
(3) the close parent map of stream based on microwave data is made, as shown in Figure 2.
(4) the ratio d of equivalent vehicle commander's adjustment is setl, reject the ratio d shared by noisepAnd reject the bandwidth d of noisem, face
Boundary's densityTraffic capacity eC, jam densityLimits of error threshold value, span 8m≤L≤10m of equivalent vehicle commander；
(5) initial criticality density value, K are used as using initial data flow density value corresponding when maximumc(1)=K (max
(q))；Using the maximum of initial data flow as the initial traffic capacity, C (1)=max (q) changes for the first time wherein (1) is represented
Generation, i.e. initial value.
(6) calculate the critical density left and right sides and reject the boundary value after noise, and during iterative calculation is set, reject
The ratio of noise does not change, and the maximum magnitude for rejecting noise is no more than bandwidth.
Because the point near critical intensity value can produce larger error to fitting result, therefore in the process of fitting
It is middle to use the elimination method of equal proportion, it is ensured that the ratio shared by the noise of critical intensity value left and right sides rejecting does not change
Become, and maximum rejecting noise bandwidth is set.Detailed process is as follows, calculates on the left of critical intensity value, shared by the ratio for rejecting point
Length dp·Kc(i), calculate on the right side of critical intensity value, reject the length d shared by the ratio of pointp·(Km(i)-Kc(i)).To ensure
Of length no more than maximum bandwidth shared by point is rejected, therefore takes a width of min (d of rejecting noise bandm,dp·Kc(i)), min (dm,
dp·(Km(i)-Kc(i))).Critical density is adjusted and the elimination method of noise is as shown in Figure 3.I=1,2,3...... it is iteration
Number of times.
(7) first paragraph fitting a straight line on the left of critical intensity value is forced by origin, to force second segment on the right side of critical intensity value
Fitting a straight line passes through jam density value point.So as to obtain the slope i.e. free stream velocity V of first paragraph fitting a straight linef, second segment plan
The slope for closing straight line is dissipation velocity of wave W, the intersection point road section capacity C of two straight lines, the intersection point of second segment fitting a straight line and X-axis
Jam density Km.Wherein theoretical jam density value is 1000/L (i).Judgement, which is, to be judged to the jam density value after adjustment
It is no to meet threshold range.I=1,2,3...... it is iterations.
Citing：KmSpan be [100,125]
Force second segment fitting a straight line to cross jam density value point, following three kinds of situation discussion can be divided into.
Situation one：If fitting a straight line and X-axis intersection point>125, then force fitting a straight line to pass through point (125,0).
Situation two：If fitting a straight line and X-axis intersection point<100, then force fitting a straight line to pass through point (100,0).
Situation three：If fitting a straight line and X-axis intersection point >=100 and≤125, normal fitting.
(8) judge whether each parameter value after fitting meets the condition of convergence, the condition of convergence is as follows：
(i)
(ii)|C(i+1)-C(i)|≤eC；
(iii)
If meeting the condition of convergence, parameter calibration result is obtained as shown in Figure 4.If being unsatisfactory for the condition of convergence, two are judged
Whether bar straight line intersects at critical density, then carries out the adjustment of equivalent vehicle commander.I=1,2,3...... it is iterations.
Following two situations can be divided into discuss.
Situation one：IfThen L (i+1)=L (i) (1+dl)。
Situation two：IfThen L (i+1)=L (i) (1-dl)。
Equivalent vehicle commander after adjustment is judged, judges whether to meet threshold range.
Citing：
If L (i+1) >=10, it is 10 to fix equivalent vehicle commander；If L (i+1)≤8, it is 8 to fix equivalent vehicle commander.
(9) density K=Occu × 1000/L (i+1) is recalculated, (6) step is transferred to.I=1,2,3...... for repeatedly
Generation number.
Concept of the invention by proposing equivalent vehicle commander, density is calculated using time occupancy and equivalent vehicle commander, then right
The relevant parameter of parent map is demarcated, and method is simple and effective, is easy to operation.The parameter calibrated includes：Free stream velocity
Vf, road section capacity C, dissipation velocity of wave W, jam density Km。
Why the present invention selects sectional linear fitting rather than other nonlinear fittings (for example：Parabola etc.) because
All there is 5 parameters of sectional linear fitting clear and definite physical significance, the i.e. slope of first paragraph fitting a straight line to be free stream velocity
Vf, the slope of second segment fitting a straight line is dissipation velocity of wave W, and the intersection point of two straight lines is road section capacity C, the friendship of two straight lines
The corresponding density of point is critical density Kc, the intersection point jam density K of second segment fitting a straight line and X-axism。
The technical principle for being the specific embodiment of the present invention and being used above, if conception under this invention institute
The change of work, during the spirit that function produced by it is still covered without departing from specification and accompanying drawing, should belong to the present invention's
Protection domain.
Claims (10)
1. a kind of traffic flow parent map parameter calibration method based on microwave data, it is characterised in that as follows including step：
(1) raw microwave data are read, equivalent vehicle commander's initial value and scope is set；
(2) density value K is calculated with equivalent vehicle commander using raw microwave data, makes the close parent map of stream；
(3) the ratio d of equivalent vehicle commander's adjustment is setl, reject the ratio d shared by noisep, reject noise bandwidth dm, limits of error threshold
It is worth critical densityLimits of error threshold value traffic capacity eC, limits of error threshold blocking densityWherein, KcFor critical density；C is
The traffic capacity；KmFor jam density；
(4) using the flow maximum in raw microwave data as the initial traffic capacity, with maximum flow in raw microwave data
The corresponding density value of value is used as critical intensity value；
(5) equal proportion rejects the noise of the critical intensity value left and right sides, and calculates critical intensity value after rejecting noise or so two
Side dividing value；
(6) linear fit is carried out to critical intensity value left data and right side data respectively, and judges each parameter value after fitting
Whether the condition of convergence is met；
(7) if meeting the condition of convergence, parameter calibration result is obtained, demarcation terminates；If being unsatisfactory for the condition of convergence, two are judged
Whether fitting a straight line is intersecting at critical intensity value, and equivalent vehicle commander is adjusted according to judged result, density is recalculated
It is worth Posterior circle and performs step (5) to step (7).
2. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The raw microwave data include flow q, time occupancy Occu, speed v.
3. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The equivalent vehicle commander L initial values are 8m, and scope is 8m≤L≤10m.
4. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The calculation formula of step (2) the density value K is as follows：
<mrow>
<mi>K</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>O</mi>
<mi>c</mi>
<mi>c</mi>
<mi>u</mi>
<mo>&times;</mo>
<mn>1000</mn>
</mrow>
<mi>L</mi>
</mfrac>
</mrow>
Wherein, K is density, and Occu is occupation rate, and L is equivalent vehicle commander.
5. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The step (5) rejects the noise of the critical intensity value left and right sides using equal proportion elimination method, and method is as follows：
(a) length calculated shared by the ratio that point is rejected on the left of critical intensity value is dp·Kc(i), rejected on the right side of critical intensity value
Length shared by the ratio of point is dp·(Km(i)-Kc(i))；
(b) maximum bandwidth of of length no more than rejecting noise shared by point is rejected for guarantee, a width of min (d of rejecting noise band are takenm,
dp·Kc(i)), min (dm,dp·(Km(i)-Kc(i)))；Wherein, i=1,2,3.. be iterations.
6. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The step (6) is respectively to critical close to the method that critical intensity value left data and right side data carry out linear fit
The fitting a straight line that the fitting of angle value left data is obtained is by origin, to the fitting a straight line that data fitting is obtained on the right side of critical intensity value
Pass through jam density value point.
7. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The described condition of convergence is as follows：
(i)
(ii)|C(i+1)-C(i)|≤eC；
(iii)
8. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The parameter calibration result that the step (7) obtains includes：Free stream velocity Vf, road section capacity C, dissipation velocity of wave W, resistance
Fill in density Km。
9. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 1, its feature exists
In：The step (7) is adjusted according to judged result to equivalent vehicle commander, as follows：
If 1)Then L (i+1)=L (i) (1+dl)；
If 2)Then L (i+1)=L (i) (1-dl)；
Wherein, the equivalent vehicle commander after adjustment is also needed to carry out threshold range judgement, if L (i+1) >=10, fixing equivalent vehicle commander is
10；If L (i+1)≤8, it is 8 to fix equivalent vehicle commander.
10. a kind of traffic flow parent map parameter calibration method based on microwave data according to claim 6, its feature exists
In：The slope that obtained fitting a straight line is fitted to critical intensity value left data is free stream velocity Vf；To critical density
The slope for the fitting a straight line that data fitting is obtained is dissipation velocity of wave W on the right side of value, and the intersection point of itself and X-axis is jam density Km；Two
The intersection point of fitting a straight line is road section capacity C.
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| CN110956800B (en) * | 2018-09-27 | 2021-07-23 | 杭州海康威视系统技术有限公司 | Road section traffic data preprocessing method and device and electronic equipment |
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