CN105809981A - Single-intersection signal light control method based on instantaneous stop delay - Google Patents
Single-intersection signal light control method based on instantaneous stop delay Download PDFInfo
- Publication number
- CN105809981A CN105809981A CN201610356512.0A CN201610356512A CN105809981A CN 105809981 A CN105809981 A CN 105809981A CN 201610356512 A CN201610356512 A CN 201610356512A CN 105809981 A CN105809981 A CN 105809981A
- Authority
- CN
- China
- Prior art keywords
- tisd
- stop delay
- instantaneous stop
- vehicle
- total amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
Abstract
The invention discloses a single-intersection signal light control method based on instantaneous stop delay, comprising the following steps: 1, setting an instantaneous stop delay total threshold A; 2, continuously calculating instantaneous stop delay total quantity of vehicles in eastern, western, southern and northern directions, and totaling the four data to obtain instantaneous stop delay total quantity TISD of all vehicles at an intersection; 3, continuously determining whether TISD reaches the threshold A, if not, calculating instantaneous stop delay total quantity TISD of a next frame image if , and if yes, turning a signal light into a double red light signal, and holding on for 2 s, switching the state of the signal light for not shorter than 10 s until total control time is over. The control method is free of periodical computing so that the ability of the control method to respond to traffic flow sudden changes is improved accordingly, and good control effect is obtained.
Description
Technical field
The invention belongs to Signalized control method and technology field, be specifically related to a kind of Single Intersection Signalized control method based on instantaneous stop delay.
Background technology
Single point signals lamp control method the earliest is, based on Webster fixed cycle theory, to investigate TRRL control method that stop line is section, ARRB control method, conflict point control method, utilizing the cycle and split of investigating the vehicle flowrate setting signal lamp stable within a period of time obtained, its maximum problem is exactly change vehicle flowrate without responding ability.Gartner and Abbas achieves vicarious signal lights, solves signal lights and can not respond the problem of vehicle flowrate change, but increases the down time that vehicle is unnecessary.The appearance of self-adapting signal lamp, signal lights better responds vehicle flowrate over time, and Pappis and Mamdani devises the signal based on fuzzy logic and controls, and makes average vehicle delay reduce about 7%.Xu Dongling et al., fuzzy control is controlled for Single Intersection signal, and with the signal lights of neural fusion fuzzy control, B.MadhavanNair and Hsing-HanLiu etc. propose the traffic signal fuzzy control method for four phase place Single Intersections, according to expertise, fuzzy controller directly determine signal lamp cycle and split according to the vehicle queue length of each phase place.PrashanthLA achieves self study Signalized control algorithm.
Self-adapting signal lamp control method is, by detector acquisition vehicle queue information within the regular hour, uses neutral net or specialist system algorithm, it is achieved the fuzzy control of next cycle signal lights.Thus it is found that the transport information that signal lamp control system needs is come as previous time period in controlled cycle, and control algolithm also needs to certain consuming time, and the core of control method is subject to the restriction of the two reason and cannot realize real-time control.
Traffic system is stochastic system on microcosmic, but macroscopically, flow but keeps statistics rule.The most basic method of traffic grade is fixed cycle control, fixed cycle Signalized control method make use of macrostatistics rule exactly, assume that the flow in certain track is maintained in an interval within certain time period, and implement certain cycle and split accordingly, to reach the optimum traffic efficiency in this situation.This control strategy implementing decades is generally effectively.But, actual traffic system is not unalterable, and existing control strategy long-term or short wink lost efficacy to have following three kinds of situations to cause:
1) macroscopic flux is slowly varying: along with urban development, macroscopic view rises up to some rule change, and vehicle population increases so that crossing all directions flow occurs to change slowly, this just requires that vehicle supervision department frequently implements Sampling Survey, to provide up-to-date timing scheme.
2) sudden change of macroscopic flux: urban road construction and maintenance, traffic control, vehicle accident, local such as block up at the thunder bolt, all can cause the unexpected change of flow.
3) change of microcosmic flow: intersection vehicles arrives rule and is generally shifted-negative-exponential distribution, but affected by various factors, in of short duration time interval, it may occur that reducing suddenly or increase of vehicle flowrate.
When traffic flow changes, traffic lights cannot realize wagon flow is changed real-time response, and traffic signal timing strategy just shows rigid feature: first, has little time to react to the change of macroscopic view vehicle flowrate, usually with the optimal strategy of a kind of flow, implement the timing of another kind of flow is controlled；Second, to microcosmic mode of arriving traffic entirely without reaction, cause that green light direction is without current vehicle, and the phenomenon that the queuing of red light direction is very long.These problems necessarily cause a large amount of invalid waiting time of vehicle, and make the control effect of Intersections decline to a great extent.
Summary of the invention
It is an object of the invention to provide a kind of Single Intersection Signalized control method based on instantaneous stop delay, solve the problem that the traffic lights existed in prior art cannot realize wagon flow is changed real-time response.
The technical solution adopted in the present invention is: a kind of Single Intersection Signalized control method based on instantaneous stop delay, comprises the steps:
Step 1, setting instantaneous stop delay total amount threshold value A, setting signal lamp original state；
The instantaneous stop delay total amount TISD of vehicle in step 2, persistently calculating four corners of the world four directionE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 3, continue to judge whether the instantaneous stop delay total amount TISD of intersection vehicles reaches instantaneous stop delay total amount threshold value A, without reaching threshold value, then calculate the instantaneous stop delay total amount TISD of next frame image；If reaching threshold value, signal lights becomes double; two red signal, and remains no greater than 2s, then signal lights switching state, and keeps being not less than 10s, terminates until the time is implemented in total control.
The feature of the present invention also resides in,
In step 1, instantaneous stop delay total amount TISD is the instantaneous stop delay summation of certain moment, certain all vehicle in appointment region, instantaneous stop delay refers to, certain is instantaneous, certain stops vehicle current halted state duration, and the instantaneous stop delay of moving vehicle is 0.
In step 1, instantaneous stop delay total amount threshold value A is 200s-300s.
In step 1, signal lights original state is set as east-west direction green light signals, North and South direction red signal.
Step 2 is specifically implemented according to following steps:
Step 2.1, on the traffic lights in direction, the intersection parking line four corners of the world 1 photographic head of each erection, the vehicle condition of 4 entrance lanes in the monitoring four corners of the world, the traffic state of every, four corners of the world road is formed as image/video stream information；
Step 2.2, utilize the position relationship of the continuous interframe vehicle of image/video stream information, identify the start-stop state of vehicle；It is 25 frames/second that image pick-up card obtains the speed of image, and the time difference of image interframe is 0.04 second；Determine all vehicles detecting in region on continuous print 101 two field picture, marked vehicle position；The vehicle determined on 1st frame is compared with each frame vehicle location on 100 two field pictures behind, if wherein the 20th, 40,60,80, the change in location of 100 two field pictures is both less than 4 pixels, determine that vehicle remains static, otherwise, confirm vehicle movement；
Step 2.3, when judging that in present frame, vehicle remains static, then the instantaneous stop delay enumerator of this vehicle adds 1, the corresponding instantaneous stop delay amount increasing by 0.04 second；When judging vehicle movement in present frame, this Instantaneous Stop Delay enumerator clear 0, obtain this frame instantaneous stop delay total amount by cumulative for Instantaneous Stop Delays all in this frame；The frames statistic that each car on every two field picture is stopped, just obtain the instantaneous stop delay of each car, on image, the instantaneous stop delay of each car adds up the instantaneous stop delay total amount obtaining a direction, obtains the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the world successivelyE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the last four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles.
The invention has the beneficial effects as follows: a kind of Single Intersection Signalized control method based on instantaneous stop delay is from Single Intersection control, just improve control system and the real-time that wagon flow changes is made the research work of exploration, by the new traffic parameter instantaneous stop delay proposed, carry out mathematics to quantify whole crossing and be obstructed the current demand of vehicle, then open green light signals according to vehicle pass-through desirability.This control method does not have the restriction of computation of Period, thus improve the real-time response ability that wagon flow is suddenlyd change by control method, and the control effect obtained.Solve the problem that the traffic lights existed in prior art cannot realize wagon flow is changed real-time response.
Accompanying drawing explanation
Fig. 1 is a kind of Single Intersection Signalized control method flow diagram based on instantaneous stop delay using the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The invention provides a kind of Single Intersection Signalized control method based on instantaneous stop delay, as it is shown in figure 1, comprise the steps:
Step 1, setting instantaneous stop delay total amount threshold value A, signal lights original state is set as east-west direction green light signals, North and South direction red signal；Instantaneous stop delay total amount threshold value A is 200s-300s, and experiment proves that the value of instantaneous stop delay total amount threshold value A is at 200s-300s, controls effect optimum；
Instantaneous stop delay total amount TISD is the instantaneous stop delay summation of certain moment, certain all vehicle in appointment region, instantaneous stop delay refers to, certain is instantaneous, certain stops vehicle current halted state duration, and the instantaneous stop delay of moving vehicle is 0；
The instantaneous stop delay total amount TISD of vehicle in step 2, persistently calculating four corners of the world four directionE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 2 is specifically implemented according to following steps:
Step 2.1, on the traffic lights in direction, the intersection parking line four corners of the world 1 photographic head of each erection, the vehicle condition of 4 entrance lanes in the monitoring four corners of the world, the traffic state of every, four corners of the world road is formed as image/video stream information；
Step 2.2, on every two field picture of image/video stream information Munsell color space color to NBS (NationalBureauofstandards) color distance ENBSFor describing the difference of two pixels, as color distance ENBSWhen being not less than 12.0, human vision thinks that they are dramatically different, based on color cluster algorithm described above, uses the color distance E between background and prospect on roadNBSValue is 17.0, can accurately distinguish out the color distinction of vehicle and road background, thus identifying vehicle；
Utilize the position relationship of continuous interframe vehicle, identify the start-stop state of vehicle；It is 25 frames/second that image pick-up card obtains the speed of image, and the time difference of image interframe is 0.04 second；Determine all vehicles detecting in region on continuous print 101 two field picture, marked vehicle position；The vehicle determined on 1st frame is compared with each frame vehicle location on 100 two field pictures behind, if wherein the 20th, 40,60,80, the change in location of 100 two field pictures is both less than 4 pixels, determine that vehicle remains static, otherwise, confirm vehicle movement；
Step 2.3, when judging that in present frame, vehicle remains static, then the instantaneous stop delay enumerator of this vehicle adds 1, the corresponding instantaneous stop delay amount increasing by 0.04 second；When judging vehicle movement in present frame, this Instantaneous Stop Delay enumerator clear 0, obtain this frame instantaneous stop delay total amount by cumulative for Instantaneous Stop Delays all in this frame；The frames statistic that each car on every two field picture is stopped, just obtain the instantaneous stop delay of each car, on image, the instantaneous stop delay of each car adds up the instantaneous stop delay total amount obtaining a direction, obtains the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the world successivelyE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the last four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 3, continue to judge whether the instantaneous stop delay total amount TISD of intersection vehicles reaches instantaneous stop delay total amount threshold value A, without reaching threshold value, then calculate the instantaneous stop delay total amount TISD of next frame image；If reaching threshold value, signal lights becomes double; two red signal, and remains no greater than 2s, then signal lights switching state, and keeps being not less than 10s；Terminate until the time is implemented in total control.
Embodiment 1: when firm discharge, compares control effect with the optimal periodic control signal lights mode of known mass flow.Experimental procedure is:
1) fixed cycle control signal lamp mode is first adopted: according to flow (flow 400,500,600,700pcuh-1) utilize the optimal period value that known mass flow that Webster fixed cycle Theoretical Calculation goes out is corresponding, (during symmetrical flow, split is 0.5 to use optimal period control signal lamp, split respectively 6:11 and 4:11 during asymmetric flow), experimental data is the average transit time of vehicle.
2) method utilizing the present invention, when being in that to adopt fixed cycle control signal lamp mode identical, calculates the average transit time of vehicle；
Step 1, instantaneous stop delay total amount threshold value A are 200s, and signal lights original state is set as east-west direction green light signals, North and South direction red signal；
The instantaneous stop delay total amount TISD of vehicle in step 2, persistently calculating four corners of the world four directionE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 2 is specifically implemented according to following steps:
Step 2.1, on the traffic lights in direction, the intersection parking line four corners of the world 1 photographic head of each erection, the vehicle condition of 4 entrance lanes in the monitoring four corners of the world, the traffic state of every, four corners of the world road is formed as image/video stream information；
Step 2.2, utilize the position relationship of the continuous interframe vehicle of image/video stream information, identify the start-stop state of vehicle；It is 25 frames/second that image pick-up card obtains the speed of image, and the time difference of image interframe is 0.04 second；Determine all vehicles detecting in region on continuous print 101 two field picture, marked vehicle position；The vehicle determined on 1st frame is compared with each frame vehicle location on 100 two field pictures behind, if wherein the 20th, 40,60,80, the change in location of 100 two field pictures is both less than 4 pixels, determine that vehicle remains static, otherwise, confirm vehicle movement；
Step 2.3, when judging that in present frame, vehicle remains static, then the instantaneous stop delay enumerator of this vehicle adds 1, the corresponding instantaneous stop delay amount increasing by 0.04 second；When judging vehicle movement in present frame, this Instantaneous Stop Delay enumerator clear 0, obtain this frame instantaneous stop delay total amount by cumulative for Instantaneous Stop Delays all in this frame；The frames statistic that each car on every two field picture is stopped, just obtain the instantaneous stop delay of each car, on image, the instantaneous stop delay of each car adds up the instantaneous stop delay total amount obtaining a direction, obtains the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the world successivelyE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the last four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 3, continue to judge whether the instantaneous stop delay total amount TISD of intersection vehicles reaches instantaneous stop delay total amount threshold value A, without reaching threshold value, then calculate the instantaneous stop delay total amount TISD of next frame image；If reaching threshold value, signal lights becomes double; two red signal, and keeps 2s, then signal lights switching state, and keeps 10s；Terminate until the time is implemented in total control, the average transit time of registration of vehicle.
Table 1 controls the control Contrast on effect result with Signalized control of the present invention for fixed cycle, can obtain as drawn a conclusion by comparison:
1) method utilizing the present invention implements Signalized control, and the average transit time of vehicle is less than the optimal periodic control signal lights of known mass flow.Thus illustrating, the control effect of the present invention is dominant.
2) during the optimal periodic control signal lights of known mass flow, sharply increase along with flow increases the average transit time of vehicle, even flow is close to saturation flow amount, it is known that because of effect out of hand, the optimal periodic control control of flow can cause that the vehicle pass-through time is substantially increased；And the present invention method implement Signalized control time, when flow is more big, advantage is more obvious.
3) when the method for the present invention implements Signalized control, flow fix and during wagon flow variation (vehicle flow than change), the average transit time of vehicle is constant under identical threshold condition, illustrating that the method for the present invention can respond wagon flow variation, wagon flow variation has substantially no effect on the control effect that the method for the present invention is implemented.
In table 1 embodiment 1, fixed cycle controls the control Contrast on effect result with Signalized control of the present invention
Embodiment 2: under flow changes over condition, compares control effect with " desirable Self Adaptive Control " Signalized control mode.Experimental procedure is:
1) according to the time dependent rule of right flow, according to the step 1 in embodiment 1 within the time period of known mass flow, calculate the optimal period value control signal lamp in this time period (owing to flow north and south is identical with East and West direction, split is 0.5), during such changes in flow rate, the cycle remains " optimal period ", when this control mode is achieved that changes in flow rate " desirable Self Adaptive Control " Signalized control mode, experimental data is the average transit time of vehicle.
2) method utilizing the present invention, when being in that to adopt desirable auto-adaptive controling signal lamp mode identical, calculates the average transit time of vehicle；
Step 1, instantaneous stop delay total amount threshold value A are 300s, and signal lights original state is set as east-west direction green light signals, North and South direction red signal；
The instantaneous stop delay total amount TISD of vehicle in step 2, persistently calculating four corners of the world four directionE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 2 is specifically implemented according to following steps:
Step 2.1, on the traffic lights in direction, the intersection parking line four corners of the world 1 photographic head of each erection, the vehicle condition of 4 entrance lanes in the monitoring four corners of the world, the traffic state of every, four corners of the world road is formed as image/video stream information；
Step 2.2, utilize the position relationship of the continuous interframe vehicle of image/video stream information, identify the start-stop state of vehicle；It is 25 frames/second that image pick-up card obtains the speed of image, and the time difference of image interframe is 0.04 second；Determine all vehicles detecting in region on continuous print 101 two field picture, marked vehicle position；The vehicle determined on 1st frame is compared with each frame vehicle location on 100 two field pictures behind, if wherein the 20th, 40,60,80, the change in location of 100 two field pictures is both less than 4 pixels, determine that vehicle remains static, otherwise, confirm vehicle movement；
Step 2.3, when judging that in present frame, vehicle remains static, then the instantaneous stop delay enumerator of this vehicle adds 1, the corresponding instantaneous stop delay amount increasing by 0.04 second；When judging vehicle movement in present frame, this Instantaneous Stop Delay enumerator clear 0, obtain this frame instantaneous stop delay total amount by cumulative for Instantaneous Stop Delays all in this frame；The frames statistic that each car on every two field picture is stopped, just obtain the instantaneous stop delay of each car, on image, the instantaneous stop delay of each car adds up the instantaneous stop delay total amount obtaining a direction, obtains the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the world successivelyE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the last four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 3, continue to judge whether the instantaneous stop delay total amount TISD of intersection vehicles reaches instantaneous stop delay total amount threshold value A, without reaching threshold value, then calculate the instantaneous stop delay total amount TISD of next frame image；If reaching threshold value, signal lights becomes double; two red signal, and keeps 2s, then signal lights switching state, and keeps 10s；Terminate until the time is implemented in total control, the average transit time of registration of vehicle.
Effect comparison is controlled when table 2 embodiment 2 changes over wagon flow
When table 2 is to change over wagon flow, the method for " desirable Self Adaptive Control " mode control signal lamp and the present invention implements the control effect experimental data comparison of Signalized control.Can obtain as drawn a conclusion by comparison:
1) three kinds of flows are changed over wagon flow and implement " optimal Self Adaptive Control " by emulation platform, controlling result data to show: control the optimal period of intermittent scanning relative to fixed cycle, the vehicle pass-through effect that " optimal Self Adaptive Control " is implemented is better than fixed cycle optimal period and controls.Increase rate respectively 0.74,0.86 and 0.89 when one-way flow, bidirectional traffics, flow change at random.
2) when the method for the present invention implements Signalized control, relative to " optimal Self Adaptive Control ", the vehicle pass-through time after controlling of implementing is little, and the current effect of intersection vehicles is better than " optimal Self Adaptive Control ".Increase rate respectively 0.76,0.85 and 0.84 when one-way flow, bidirectional traffics, flow change at random.
Embodiment 3
Under flow changes over condition, compare control effect with " desirable Self Adaptive Control " Signalized control mode.Experimental procedure is:
1) according to the time dependent rule of right flow, according to the step 1 in embodiment 1 within the time period of known mass flow, calculate the optimal period value control signal lamp in this time period (owing to flow north and south is identical with East and West direction, split is 0.5), during such changes in flow rate, the cycle remains " optimal period ", when this control mode is achieved that changes in flow rate " desirable Self Adaptive Control " Signalized control mode, experimental data is the average transit time of vehicle.
2) method utilizing the present invention, when being in that to adopt desirable auto-adaptive controling signal lamp mode identical, calculates the average transit time of vehicle；
Step 1, instantaneous stop delay total amount threshold value A are 250s, and signal lights original state is set as east-west direction green light signals, North and South direction red signal；
The instantaneous stop delay total amount TISD of vehicle in step 2, persistently calculating four corners of the world four directionE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 2 is specifically implemented according to following steps:
Step 2.1, on the traffic lights in direction, the intersection parking line four corners of the world 1 photographic head of each erection, the vehicle condition of 4 entrance lanes in the monitoring four corners of the world, the traffic state of every, four corners of the world road is formed as image/video stream information；
Step 2.2, utilize the position relationship of the continuous interframe vehicle of image/video stream information, identify the start-stop state of vehicle；It is 25 frames/second that image pick-up card obtains the speed of image, and the time difference of image interframe is 0.04 second；Determine all vehicles detecting in region on continuous print 101 two field picture, marked vehicle position；The vehicle determined on 1st frame is compared with each frame vehicle location on 100 two field pictures behind, if wherein the 20th, 40,60,80, the change in location of 100 two field pictures is both less than 4 pixels, determine that vehicle remains static, otherwise, confirm vehicle movement；
Step 2.3, when judging that in present frame, vehicle remains static, then the instantaneous stop delay enumerator of this vehicle adds 1, the corresponding instantaneous stop delay amount increasing by 0.04 second；When judging vehicle movement in present frame, this Instantaneous Stop Delay enumerator clear 0, obtain this frame instantaneous stop delay total amount by cumulative for Instantaneous Stop Delays all in this frame；The frames statistic that each car on every two field picture is stopped, just obtain the instantaneous stop delay of each car, on image, the instantaneous stop delay of each car adds up the instantaneous stop delay total amount obtaining a direction, obtains the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the world successivelyE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the last four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 3, continue to judge whether the instantaneous stop delay total amount TISD of intersection vehicles reaches instantaneous stop delay total amount threshold value A, without reaching threshold value, then calculate the instantaneous stop delay total amount TISD of next frame image；If reaching threshold value, signal lights becomes double; two red signal, and keeps 2s, then signal lights switching state, and keeps 10s；Terminate until the time is implemented in total control, the average transit time of registration of vehicle.
Effect comparison is controlled when table 3 embodiment 3 changes over wagon flow
When table 3 is to change over wagon flow, the method for " desirable Self Adaptive Control " mode control signal lamp and the present invention implements the control effect experimental data comparison of Signalized control.Can obtain as drawn a conclusion by comparison:
1) three kinds of flows are changed over wagon flow and implement " optimal Self Adaptive Control " by emulation platform, controlling result data to show: control the optimal period of intermittent scanning relative to fixed cycle, the vehicle pass-through effect that " optimal Self Adaptive Control " is implemented is better than fixed cycle optimal period and controls.Increase rate respectively 0.74,0.86 and 0.89 when one-way flow, bidirectional traffics, flow change at random.
2) when the method for the present invention implements Signalized control, relative to " optimal Self Adaptive Control ", the vehicle pass-through time after controlling of implementing is little, and the current effect of intersection vehicles is better than " optimal Self Adaptive Control ".Increase rate respectively 0.75,0.86 and 0.84 when one-way flow, bidirectional traffics, flow change at random.
Claims (4)
1. the Single Intersection Signalized control method based on instantaneous stop delay, it is characterised in that comprise the steps:
Step 1, setting instantaneous stop delay total amount threshold value A, setting signal lamp original state；
The instantaneous stop delay total amount TISD of vehicle in step 2, persistently calculating four corners of the world four directionE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles；
Step 3, continue to judge whether the instantaneous stop delay total amount TISD of intersection vehicles reaches instantaneous stop delay total amount threshold value A, without reaching threshold value, then calculate the instantaneous stop delay total amount TISD of next frame image；If reaching threshold value, signal lights becomes double; two red signal, and remains no greater than 2s, then signal lights switching state, and keeps being not less than 10s, terminates until the time is implemented in total control.
2. a kind of Single Intersection Signalized control method based on instantaneous stop delay as claimed in claim 1, it is characterised in that in described step 1, instantaneous stop delay total amount threshold value A is 200s-300s.
3. a kind of Single Intersection Signalized control method based on instantaneous stop delay as claimed in claim 1, it is characterised in that in described step 1, signal lights original state is set as east-west direction green light signals, North and South direction red signal.
4. a kind of Single Intersection Signalized control method based on instantaneous stop delay as claimed in claim 1, it is characterised in that described step 2 is specifically implemented according to following steps:
Step 2.1, on the traffic lights in direction, the intersection parking line four corners of the world 1 photographic head of each erection, the vehicle condition of 4 entrance lanes in the monitoring four corners of the world, the traffic state of every, four corners of the world road is formed as image/video stream information；
Step 2.2, utilize the position relationship of the continuous interframe vehicle of image/video stream information, identify the start-stop state of vehicle；It is 25 frames/second that image pick-up card obtains the speed of image, and the time difference of image interframe is 0.04 second；Determine all vehicles detecting in region on continuous print 101 two field picture, marked vehicle position；The vehicle determined on 1st frame is compared with each frame vehicle location on 100 two field pictures behind, if wherein the 20th, 40,60,80, the change in location of 100 two field pictures is both less than 4 pixels, determine that vehicle remains static, otherwise, confirm vehicle movement；
Step 2.3, when judging that in present frame, vehicle remains static, then the instantaneous stop delay enumerator of this vehicle adds 1, the corresponding instantaneous stop delay amount increasing by 0.04 second；When judging vehicle movement in present frame, this Instantaneous Stop Delay enumerator clear 0, obtain this frame instantaneous stop delay total amount by cumulative for Instantaneous Stop Delays all in this frame；The frames statistic that each car on every two field picture is stopped, just obtain the instantaneous stop delay of each car, on image, the instantaneous stop delay of each car adds up the instantaneous stop delay total amount obtaining a direction, obtains the instantaneous stop delay total amount TISD of vehicle in the four direction of the four corners of the world successivelyE、TISDS、TISDWAnd TISDN, the instantaneous stop delay total amount TISD of vehicle in the four direction of the last four corners of the worldE、TISDS、TISDWAnd TISDNAdd up the instantaneous stop delay total amount TISD obtaining whole intersection vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610356512.0A CN105809981A (en) | 2016-05-26 | 2016-05-26 | Single-intersection signal light control method based on instantaneous stop delay |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610356512.0A CN105809981A (en) | 2016-05-26 | 2016-05-26 | Single-intersection signal light control method based on instantaneous stop delay |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105809981A true CN105809981A (en) | 2016-07-27 |
Family
ID=56451953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610356512.0A Pending CN105809981A (en) | 2016-05-26 | 2016-05-26 | Single-intersection signal light control method based on instantaneous stop delay |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105809981A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107784852A (en) * | 2016-08-31 | 2018-03-09 | 奥迪股份公司 | Electronic-controlled installation and method for vehicle |
| CN109446926A (en) * | 2018-10-09 | 2019-03-08 | 深兰科技（上海）有限公司 | A kind of traffic monitoring method and device, electronic equipment and storage medium |
| CN109948436A (en) * | 2019-02-01 | 2019-06-28 | 深兰科技（上海）有限公司 | The method and device of vehicle on a kind of monitoring road |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101038700A (en) * | 2007-04-20 | 2007-09-19 | 东南大学 | Mixed controlling method of single dot signal controlling crossing |
| CN101042805A (en) * | 2007-03-09 | 2007-09-26 | 吉林大学 | Control method for single crossing mixed traffic signal |
| US20080204277A1 (en) * | 2007-02-27 | 2008-08-28 | Roy Sumner | Adaptive traffic signal phase change system |
| CN101702262A (en) * | 2009-11-06 | 2010-05-05 | 北京交通大学 | Data syncretizing method for urban traffic circulation indexes |
| JP2010250646A (en) * | 2009-04-17 | 2010-11-04 | Sumitomo Electric Ind Ltd | System and method for controlling public vehicle priority signal |
| JP2013080343A (en) * | 2011-10-03 | 2013-05-02 | Sumitomo Electric Ind Ltd | Offset calculating device, computer program and offset calculating method |
-
2016
- 2016-05-26 CN CN201610356512.0A patent/CN105809981A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080204277A1 (en) * | 2007-02-27 | 2008-08-28 | Roy Sumner | Adaptive traffic signal phase change system |
| CN101042805A (en) * | 2007-03-09 | 2007-09-26 | 吉林大学 | Control method for single crossing mixed traffic signal |
| CN101038700A (en) * | 2007-04-20 | 2007-09-19 | 东南大学 | Mixed controlling method of single dot signal controlling crossing |
| JP2010250646A (en) * | 2009-04-17 | 2010-11-04 | Sumitomo Electric Ind Ltd | System and method for controlling public vehicle priority signal |
| CN101702262A (en) * | 2009-11-06 | 2010-05-05 | 北京交通大学 | Data syncretizing method for urban traffic circulation indexes |
| JP2013080343A (en) * | 2011-10-03 | 2013-05-02 | Sumitomo Electric Ind Ltd | Offset calculating device, computer program and offset calculating method |
Non-Patent Citations (2)
| Title |
|---|
| QIWU RAN ET AL.: "A novel closed-loop feedback traffic signal control strategy at an isolated intersection", 《2012 IEEE INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND TECHNOLOGY》 * |
| 冉启武 等: "考虑瞬时停车延误的信号灯闭环控制策略研究", 《西安交通大学学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107784852A (en) * | 2016-08-31 | 2018-03-09 | 奥迪股份公司 | Electronic-controlled installation and method for vehicle |
| CN107784852B (en) * | 2016-08-31 | 2021-03-30 | 奥迪股份公司 | Electronic control device and method for vehicle |
| CN109446926A (en) * | 2018-10-09 | 2019-03-08 | 深兰科技（上海）有限公司 | A kind of traffic monitoring method and device, electronic equipment and storage medium |
| CN109948436A (en) * | 2019-02-01 | 2019-06-28 | 深兰科技（上海）有限公司 | The method and device of vehicle on a kind of monitoring road |
| CN109948436B (en) * | 2019-02-01 | 2020-12-08 | 深兰科技（上海）有限公司 | Method and device for monitoring vehicles on road |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103810868B (en) | A kind of traffic overflow suppressing method based on high-altitude video information | |
| CN107730922B (en) | Unidirectional trunk line green wave coordination control self-adaptive adjustment method | |
| EP1057155B1 (en) | Method and means for network control of traffic | |
| CN104966402A (en) | Supersaturated traffic flow intersection queue overflow prevention and control method | |
| TW201901632A (en) | Road traffic control system, method and electronic device | |
| CN105788309B (en) | A kind of controlling of bus priority policy selection method | |
| CN108109403A (en) | Adaptive traffic lights control system and method based on wagon flow | |
| CN113129595B (en) | Traffic signal control method, equipment and medium for road intersection | |
| CN104952263B (en) | Emergency vehicle priority signal control method based on phase difference progressive and circulatory coordination | |
| CN105809981A (en) | Single-intersection signal light control method based on instantaneous stop delay | |
| CN104485005A (en) | Intersection multiline public traffic vehicle priority request conflict coordination control method | |
| CN104575038A (en) | Intersection signal control method considering priority of multiple buses | |
| WO2020093702A1 (en) | Deep q-network learning-based traffic light dynamic timing algorithm | |
| CN109461314B (en) | Urban intelligent lane change method and intelligent lane change system | |
| CN111932916B (en) | Control method and control system for dynamic emergency lane of urban road | |
| CN104485004A (en) | Signal control method combining main trunk road bidirectional dynamic green wave and secondary trunk road semi-induction | |
| CN113313943B (en) | Road side perception-based intersection traffic real-time scheduling method and system | |
| CN109993981A (en) | The self tuning control method of traffic signals based on Holographic test | |
| Mirchandani et al. | Integrated transit priority and rail/emergency preemption in real-time traffic adaptive signal control | |
| CN109872531A (en) | Road traffic signal controls system-wide net optimized control objective function construction method | |
| CN109272765A (en) | A kind of virtual traffic lights management system, method and navigation system | |
| CN113470390B (en) | Multiphase dynamic coordination control method for short-link intersection edge node fusion | |
| CN111047883A (en) | Traffic signal control method for key intersection and adjacent intersection | |
| CN104599513A (en) | Bus signal priority control method | |
| CN112071095B (en) | Signal timing method for emergency vehicle passing intersection based on V2X technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160727 |