CN105894809B - A kind of segmented urban road traffic state method of estimation - Google Patents
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Abstract
The present invention relates to technical field of intelligent traffic, more particularly to a kind of segmented urban road traffic state method of estimation.The method of the present invention includes：(1) diverse location according to residing for Traffic flow detecting device in system-wide section, system-wide section is divided into 3 upstream section, middle reaches section and downstream road section sub- sections；(2) speed in each sub- section is calculated respectively with the flow multinomial traffic flow model of speed one；(3) average speed of system-wide section is calculated according to the speed in each sub- section；(4) road traffic state is calculated according to the average speed of system-wide section；(5) computation model can be extended according to the increase and decrease of Traffic flow detecting device quantity.Technical solution of the present invention can overcome existing ambiguity problem during speed and traffic transformation, effectively improve the accuracy and reliability of road traffic state prediction.
Description
Technical field
The present invention relates to technical field of intelligent traffic, and in particular to a kind of segmented urban road traffic state estimation side
Method.
Background technology
Urban highway traffic faces the series of challenges such as traffic safety, traffic congestion, traffic pollution, vehicle supervision department and
The public continues to increase to the attention rate of urban transportation running status.Generally, handed over according to Road average-speed to weigh road
Logical state.At present, each city is generally mounted with polytype Traffic flow detecting device such as coil, microwave and bayonet socket on road,
Vehicle GPS is additionally disposed on a large amount of buses, taxi to obtain traffic flow data.Above Traffic flow detecting device is substantially all
Vehicle flowrate can be accurately measured, but wants to change into road average speed exactly, then is needed by suitably speed-stream
Measure traffic flow model.
In the research and practice process to speed-flow traffic flow model, the inventors found that：In speed and
In the conversion process of flow, certain ambiguity be present, it directly affects the accuracy of road average speed estimation.For example pass
When sensor detects that flow is less, road average speed may be very fast, because the vehicle passed through is more sparse, speed is very fast, but
Negligible amounts；Meanwhile road average speed may also be relatively slow, because speed result in the negligible amounts that vehicle passes through more slowly.But
It is that this phenomenon but has different performances in the diverse location in section.Such as entrance wagon flow it is less when, be speed mostly compared with
Fast situation；It is the slower situation of speed mostly when outlet wagon flow is less；In the middle part of road and entrance wagon flow is all less, then speed
Fast possibility is just higher.This explanation considers the positional information of sensor, segments the speed flowrate conversion parameter of diverse location,
It is favorably improved the accuracy of speed and traffic transformation.Therefore, when carrying out urban road traffic state prediction, it is necessary to take into account road
Speed caused by the difference of position and the difference of flow corresponding relation in section.
The content of the invention
Estimate ambiguity problem existing for toggle speed and traffic transformation for traffic behavior, the invention provides one kind to be segmented
Formula urban road traffic state method of estimation.The technical scheme is as follows：
A kind of segmented urban road traffic state method of estimation, methods described include：
Step 1：
Diverse location according to residing for fixing Traffic flow detecting device in system-wide section, system-wide section is divided into 3 sub- sections, its
In close to one section of section entrance be referred to as upstream section, be referred to as downstream road section close to one section of section outlet, remaining one
Section is referred to as middle reaches section.
Step 2：
For the upstream section described in step 1, middle reaches section, downstream road section, examined by fixed traffic flow in each section
Flow, speed historical data that device observes are surveyed, traffic flow model parameter a, b, c and d are obtained using Least Square Method,
I.e.：
U=a- (b × q-c)d (1)
In formula, q is represented in the unit interval by the flow in some section.
Step 3：
The model parameter being calculated according to the segmentation of the section of step 1 and step 2, using diverse location Traffic flow detecting device
The average passage rate of the flow rate calculation correspondence position of actual measurement, its formula are：
ul=a- (b × ql-c)d (2)
In formula, l represents that speed and flow are all the results observed when apart from crossing l.
Step 4：
System-wide section is calculated according to the passage rate of diverse location in the system-wide section being calculated in step 3 (or different segmentations)
Average passage rate, i.e.,：
In formula, L represents road section length.Formula (2) is substituted into formula (3), obtained：
In formula, u is the full Road average-speed being calculated for the magnitude of traffic flow observed according to diverse location in section.
In actual applications, due to that can not possibly obtain the speed flowrate situation of change of each position on section, formula (4) can be with
It is reduced to：
In formula,Weight for each segmentation Traffic flow detecting device to calculating Road average-speed.True Data can be used
Automatic Fitting method of estimation obtains.
Step 5：
The transfer equation of flow-speed-state is established, the road average speed in formula (5) is mapped to the knot of status field
Fruit, mapping function DSS, i.e.,：
In formula, S represents the traffic behavior of road,Represent power of each Traffic flow detecting device to calculating road traffic state
Weight.
When newly increasing (or reduction) n Traffic flow detecting device in section, it is necessary to formula (6) increase (or reduction) traffic flow
The speed-flow transformation result of detector overlay segments, i.e.,：
The beneficial effect of technical scheme provided in an embodiment of the present invention is：Examined by the traffic flow of diverse location in section
Survey device to divide exploration section, calculate each sub- Road average-speed respectively further according to the magnitude of traffic flow observed, finally
The traffic of each segmentation is carried out accumulating the road traffic condition that system-wide section is calculated, can so overcome speed and flow
Ambiguity problem present in conversion process, so as to improve the accuracy and reliability of road traffic state prediction.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description Fig. 2 is only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is the calculation flow chart of the traffic state estimation method of the present invention.
Fig. 2 is the schematic diagram of one embodiment of the present of invention.
Embodiment
Below in conjunction with accompanying drawing Fig. 2 in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out it is clear,
It is fully described by, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
Its embodiment, belongs to the scope of protection of the invention.
Hangzhou section shown in Fig. 2, the section are mounted with high definition bayonet socket 1, microwave 2 and the class traffic of ground induction coil 3 three
Current sensor, wherein bayonet socket 1 are arranged on the entrance in section, and microwave 2 is arranged near midblock, and ground induction coil 3 is installed
Near exit in section.Measured in a cycle by high definition bayonet socket 1, microwave 2 and the place installation site of ground induction coil 3
The vehicle flowrate in region is qb、qw、qc。
Step 1：
Diverse location according to residing for fixing Traffic flow detecting device in system-wide section, by system-wide section be divided into upstream section, in
Swim the 3 sub- sections in section and downstream road section.
Step 2：
Using multinomial model come describe traffic flow in urban road be in stationary flow and block the stream stage when speed and
Discharge relation, its citation form are：
U=a- (b × q-c)d (8)
In formula, q is represented by the flow in some section in the unit interval, and u represents that the average of the section is passed through in the period
Speed.Due to fixed Traffic flow detecting devices such as high definition bayonet socket 1, microwave 2 and ground induction coils 3, present position is in system-wide section
Know, the parameter initialization model of similar road is used first, then using observation station history where fixed Traffic flow detecting device
Vehicle flow and speed data carry out parameter adjustment, and the model parameter for finally giving the section is a=66.1, b=-4.5e-2, c
=1.6 and d=0.2.
Step 3：
The average of the diverse locations such as upstream section high definition bayonet socket 1, middle reaches section microwave 2 and downstream road section ground induction coil 3 is led to
Scanning frequency degree can be obtained as the flow rate calculation measured by the Traffic flow detecting device of relevant position：
In formula, qi、ui(i=b, w, c) represents to observe at high definition bayonet socket 1, microwave 2 and the position of ground induction coil 3 respectively
Speed and flow.
Step 4：
The average passage rate of system-wide section can be by high definition bayonet socket 1, microwave 2 and the present position of ground induction coil 3 in the section
Passage rate determine, in other words this section ensemble average passage rate be it is each segmentation integrate result, i.e.,：
In formula, L represents road section length.In order to represent the corresponding relation of local flow and road average speed, by formula (9) generation
Enter formula (10), obtain：
In formula, u is the Road average-speed calculated for the magnitude of traffic flow observed according to diverse location in section.
Integral and calculating process in formula (11) be present, that is, need to know the road traffic condition of each segmentation.In practical application
In, it is impossible to obtain the speed flowrate situation of change of each position on section.Therefore, model can be reduced to：
In formula,Weight for each position Traffic flow detecting device to calculating Road average-speed.True Data can be used
Automatic Fitting method of estimation obtains.
Step 5：
The transfer equation of flow-speed-state is established, the road average speed in formula (12) is mapped to the knot of status field
Fruit, mapping function DSS, i.e.,：
In formula, S represents the traffic behavior of road,Represent weight of each Traffic flow detecting device to calculating road traffic state.
When newly increasing (or reduction) n Traffic flow detecting device in section, it is necessary to be adjusted to model, i.e. increase and decrease senses
The speed flowrate transformation result of device overlay segments.For example increase a GPS Floating Car in road newly and think to increase a traffic flow newly
Detector.GPS Floating Cars may be travelled in any position in section, therefore can gather the traffic number of multiple segmentations on section
According to.As shown in Fig. 2 newly-increased 3 loadings GPS taxi Floating Car 4, Floating Car 5, Floating Car 6, i.e., newly-increased l=4,5,6 represent
The section of gps data covering, the then formula after simplifying can be expressed as：
A kind of segmented urban road traffic state method of estimation provided above the embodiment of the present invention has been carried out in detail
Thin to introduce, specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, there will be changes in specific embodiments and applications, in summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (2)
- A kind of 1. segmented urban road traffic state method of estimation, it is characterised in that including：Step 1：Diverse location according to residing for fixing Traffic flow detecting device in system-wide section, system-wide section is divided into 3 sub- sections, wherein leaning on One section of shortcut section entrance is referred to as upstream section, and one section close to section outlet is referred to as downstream road section, remaining one section of title Be middle reaches section；Step 2：For the upstream section described in step 1, middle reaches section, downstream road section, pass through fixed Traffic flow detecting device in each section Flow, the speed historical data observed, traffic flow model parameter a, b, c and d are obtained using Least Square Method, i.e.,：U=a- (b × q-c)d (1)In formula, q is represented in the unit interval by the flow in some section；Step 3：The model parameter being calculated according to the segmentation of the section of step 1 and step 2, is surveyed using diverse location Traffic flow detecting device Flow rate calculation correspondence position average passage rate, its formula is：ul=a- (b × ql-c)d (2)In formula, l represents that speed and flow are all the results observed when apart from crossing l；Step 4：The flat of system-wide section is calculated according to the passage rate of diverse location in the system-wide section being calculated in step 3 or different segmentations Equal passage rate, i.e.,：<mrow> <mi>u</mi> <mo>=</mo> <mrow> <mo>(</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>L</mi> </msubsup> <msub> <mi>u</mi> <mi>l</mi> </msub> <mi>d</mi> <mi>l</mi> <mo>)</mo> </mrow> <mo>/</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>In formula, L represents road section length, and formula (2) is substituted into formula (3), obtained：<mrow> <mi>u</mi> <mo>=</mo> <mrow> <mo>(</mo> <msubsup> <mo>&Integral;</mo> <mn>0</mn> <mi>L</mi> </msubsup> <mo>&lsqb;</mo> <mi>a</mi> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mrow> <mi>b</mi> <mo>&times;</mo> <msub> <mi>q</mi> <mi>l</mi> </msub> <mo>-</mo> <mi>c</mi> </mrow> <mo>)</mo> </mrow> <mi>d</mi> </msup> <mo>&rsqb;</mo> <mi>d</mi> <mi>l</mi> <mo>)</mo> </mrow> <mo>/</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>In formula, u is the full Road average-speed being calculated for the magnitude of traffic flow observed according to diverse location in section；In actual applications, due to that can not possibly obtain the speed flowrate situation of change of each position on section, formula (4) can simplify For：<mrow> <mi>u</mi> <mo>=</mo> <msubsup> <mi>&Sigma;</mi> <mrow> <mi>l</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <mi>l</mi> <mo>=</mo> <mi>L</mi> </mrow> </msubsup> <msub> <mo>&part;</mo> <mi>l</mi> </msub> <mrow> <mo>(</mo> <mi>a</mi> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mrow> <mi>b</mi> <mo>&times;</mo> <msub> <mi>q</mi> <mi>l</mi> </msub> <mo>-</mo> <mi>c</mi> </mrow> <mo>)</mo> </mrow> <mi>d</mi> </msup> <mo>)</mo> </mrow> <mo>/</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>In formula,Weight for each segmentation Traffic flow detecting device to calculating Road average-speed,True Data can be used automatic Fitting method of estimation obtains；Step 5：The transfer equation of flow-speed-state is established, the road average speed in formula (5) is mapped to the result of status field, reflected It is DSS to penetrate function, i.e.,：<mrow> <mi>S</mi> <mo>=</mo> <msubsup> <mi>&Sigma;</mi> <mrow> <mi>l</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <mi>l</mi> <mo>=</mo> <mi>L</mi> </mrow> </msubsup> <msub> <mo>&part;</mo> <mi>l</mi> </msub> <mi>D</mi> <mi>S</mi> <mi>S</mi> <mrow> <mo>(</mo> <mi>a</mi> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mrow> <mi>b</mi> <mo>&times;</mo> <msub> <mi>q</mi> <mi>l</mi> </msub> <mo>-</mo> <mi>c</mi> </mrow> <mo>)</mo> </mrow> <mi>d</mi> </msup> <mo>)</mo> </mrow> <mo>/</mo> <mi>L</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>In formula, S represents the traffic behavior of road.
- 2. a kind of segmented urban road traffic state method of estimation according to claim 1, it is characterised in that also include Following steps：When newly n Traffic flow detecting device of increase and decrease in section, it is necessary to increase and decrease formula (6) speed of Traffic flow detecting device overlay segments Degree-flow transformation result, i.e.,： <mrow> <mi>u</mi> <mo>=</mo> <msubsup> <mi>&Sigma;</mi> <mrow> <mi>l</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <mi>l</mi> <mo>=</mo> <mi>L</mi> <mo>&PlusMinus;</mo> <mi>n</mi> </mrow> </msubsup> <msub> <mi>&delta;</mi> <mi>l</mi> </msub> <mi>D</mi> <mi>S</mi> <mi>S</mi> <mrow> <mo>(</mo> <mi>a</mi> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mrow> <mi>b</mi> <mo>&times;</mo> <msub> <mi>q</mi> <mi>l</mi> </msub> <mo>-</mo> <mi>c</mi> </mrow> <mo>)</mo> </mrow> <mi>d</mi> </msup> <mo>)</mo> </mrow> <mo>/</mo> <mrow> <mo>(</mo> <mi>L</mi> <mo>&PlusMinus;</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>.</mo> </mrow>
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| CN107886718B (en) * | 2017-11-01 | 2020-09-11 | 沈阳世纪高通科技有限公司 | Road condition analysis method, device and network system |
| CN107993452B (en) * | 2017-12-20 | 2021-06-08 | 杭州远眺科技有限公司 | Speed measurement method for detecting road passing speed on highway based on WIFI probe |
| CN110969886A (en) * | 2018-09-28 | 2020-04-07 | 北京高德云图科技有限公司 | Bus flow determination method and device and electronic equipment |
| CN109544932B (en) * | 2018-12-19 | 2021-03-19 | 东南大学 | Urban road network flow estimation method based on fusion of taxi GPS data and gate data |
| CN109740811A (en) * | 2018-12-28 | 2019-05-10 | 斑马网络技术有限公司 | Passage speed prediction technique, device and storage medium |
| TWI704533B (en) * | 2019-04-12 | 2020-09-11 | 創新交通科技有限公司 | A method for dividing the traffic network by origin-destination tree(od-tree) |
| CN111915874B (en) * | 2019-05-08 | 2021-05-28 | 中国科学院大学 | Road average passing time prediction method |
| CN110232820A (en) * | 2019-05-20 | 2019-09-13 | 北京世纪高通科技有限公司 | A kind of method for building up and device of road condition predicting model |
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| US20090281714A1 (en) * | 2008-05-09 | 2009-11-12 | Anas Youssef Boubas | Traffic Congestion Estimation Based on Motion of Cellular Devices |
| CN101901546B (en) * | 2010-04-29 | 2012-06-27 | 上海迪爱斯通信设备有限公司 | Intelligent traffic dispatching and commanding and information service method and system based on dynamic information |
| CN102074112B (en) * | 2011-01-30 | 2012-12-26 | 北京交通大学 | Time sequence multiple linear regression-based virtual speed sensor design method |
| US9014955B2 (en) * | 2011-07-20 | 2015-04-21 | Sumitomo Electric Industries, Ltd. | Traffic evaluation device non-transitory recording medium and traffic evaluation method |
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