CN106297326A - Based on holographic road network tide flow stream Lane use control method - Google Patents

Abstract

The invention discloses a kind of based on holographic road network tide flow stream Lane use control method, the method comprises the following steps: one: carry out crossing modeling by holographic road network feedback traffic flow real time status, two: analyze intersection entrance wagon flow and turn to equilibrium degree and variable guided vehicle road utilization rate, three: set up variable guided vehicle road crossing upstream vehicle and seamlessly transit pattern, four: carry out coordinated signals tidal congestion crossing changeable driveway and guide, it is target that the present invention regulates road section traffic volume flow path direction lack of uniformity, carry out crossing inlet wagon flow and turn to effective control of unbalanced characteristic and variable guided vehicle road；The traffic resource spatio-temporal synergy management of sight in road network transport node and key road segment, microcosmic point is proposed, set up variable guided vehicle road crossing upstream vehicle and seamlessly transit pattern, realize the variable guided vehicle road in tidal congestion crossing to arrange and Induction Control method, promote the urban highway traffic resource effective application level from supply side structural reform.

Description

Based on holographic road network tide flow stream Lane use control method

Technical field

The present invention relates to traffic control and management technical field, particularly relate to a kind of based on holographic road network tide friendship Through-flow Lane use control method, can realize, for tidal congestion crossing and key road segment, the control mould that variable guided vehicle road is new Formula.

Background technology

Entering 21 century, the application focus of variable guided vehicle road technology is concentrated mainly under extreme weather conditions, traffic flow Emergency evacuation.2004, the state variable guided vehicle road performances investigation of 49, U.S. is being found, nearly all big city and Some small and medium-sized cities all apply variable guided vehicle road technology.

Variable guided vehicle road has more than one track to move towards after referring to enter this track, and some crossings situation allows to turn right With keep straight on (i.e. turn right and a track merged in craspedodrome), or tune and left-hand rotation merge into a track (be generally used for left side Track).Variable guided vehicle road has motility, is different from common track indicatrix, keeps straight on exactly as long as entering track craspedodrome, Left-hand rotation is exactly to turn left.

Since 2000, Shanghai City takes the lead in applying variable guided vehicle road technology on Siping Road, and in relevant road segments along the line Crossing coordinate implement motor vehicles prohibit left steering measure.2003, Shanghai City was provided with variable leading on outer shroud cross-river tunnel To track, change track layout by the isolation guardrail of autonomous Design.2004, Shenyang Pearl River Bridge implemented variable guided vehicle road, And in Pearl River Bridge both sides, notice board is set at 30 meters of bridge.2005, variable leading was implemented in crossing, Lu Yubao road, the Beishan Mountain, Hangzhou To track.2008, Kweiyang was all taken charge of overpass and is implemented variable guided vehicle road, is domestic to implement variable leading on complete section first To the traffic management scheme in track；In the same year, variable guided vehicle road is implemented in Suzhou in crossing, road, bamboo brightness Lu Yunan garden.2011 Year, Wuxi reaches to implement variable guided vehicle road with Zhou Xinlu crossing at Chun Hu；In the same year, variable guiding is implemented in Shaoshan Road, Changsha City Track, driver is by the traveling of greensignal light prompting vehicle above track；South, Lanzhou Binhe east road flat sand falls wild goose to gold Prosperous north of a road mouth section also implements the variable guided vehicle road that Article 1 600 meters is long.2012, Jinan City implemented variable leading in Shun Wah Road To track.Hereafter, Beijing, Shenzhen, Daliang City, Chongqing City, city, Guangzhou also begin to apply variable guided vehicle road Technology.

Home and abroad scholar proposes the sub-district/crossing of several traffic control variable guided vehicle road scope and defines algorithm, mistake Saturation and recognizer, bottleneck tide section distinguished number, traffic control strategy and intelligent algorithm, delay to a certain extent Solve the traffic congestion of urban road network.But, existing research guided vehicle road variable to crossing under hypersaturated state is handed over Logical characteristic and capacity intrinsic propesties mostly are qualitative analysis, fail to see its feature of announcement of quantification；The traffic control plan proposed Slightly it mostly is the solution for practical problem, does not possess universality；Corresponding signal Controlling model and algorithm mostly also are single-point Crossing's theory study, the checking failing to carry out macroscopic aspect in urban road network real-time dynamic traffic stream environment should With.The shortcoming of prior art is mainly manifested in the following aspects:

Crossing is coordinated span of control and is failed to embody the Real-time and Dynamic change of variable guided vehicle road traffic relatedness: existing grind Study carefully and have realized that the linked character of the variable guided vehicle road in crossing is not only affected by crossing spacing, also with wagon flow distribution spy Levy, the traffic circulation characteristic of signal timing plan crossing relevant.In Practical Project runs and uses, the variable Guide vehicle in crossing Road and traffic coordinated control scope are all dynamically changes, and conventional cross mouth range determining method intelligence degree is the highest, only According to historical data static division, and do not consider the topological relation of road network, need crossing Relating Characteristic and friendship The judgement of prong variable guided vehicle road scope is carried out from new knowledge.

Crossing variable guided vehicle road hypersaturated state is difficult to: hand in the variable guided vehicle road in hypersaturated state crossing Logical demand is more than its traffic capacity, and the queuing of crossing is long even overflows, and makes convention traffic detection method accurately not detect Real-time traffic service data.Because the traffic control strategy of hypersaturated state and the traffic control strategy of stable state are different, if can not Accurately identify hypersaturated state initial time, will affect traffic control optimized algorithm application effect.Application real-time dynamic traffic fortune Row data analysis crossing variable guided vehicle road hypersaturated state variation characteristic in space-time unique, design hypersaturated state is known Other algorithm is the basis of coordinating control of traffic signals.

The method lacking quantitative analysis hypersaturated state critical path: variable for crossing guided vehicle road is carried out as entirety Signal coordinated control, has obtained approval and the concern of scholar, but existing traffic control strategy is generally with global optimization or pass The regulation of key crossing is main, and the collaborative path chosen during optimizing generally is manually specified, in the range of failing to crossing Identification and the classification of critical path carry out systematic study and application.Hand over for optimizing the variable guided vehicle road in hypersaturated state crossing Logical control structure, sets up traffic control model for bottleneck road, should be in conjunction with crossing variable guided vehicle road associate feature from road Road network extracts the critical path of traffic loading overload, and all feasible paths are carried out classification.Lead for crossing is variable To the bottleneck road in track, apply hypersaturated state traffic control strategy, optimize signal according to real-time dynamic traffic operation conditions Control program, is to alleviate crossing variable guided vehicle road hypersaturated state feasible method.

Traffic coordinated control algorithm fails according to the variable guided vehicle road traffic characteristics optimization of hypersaturated state crossing: intersect The variable guided vehicle road of mouth requires that traffic signal control system must take into account the harmony between Adjacent Intersections, optimizes high density road The signal timing plan of all signalized intersections in road network.Additionally, due between the variable guided vehicle road Adjacent Intersections of crossing Away from little, between Adjacent Intersections, traffic flow influences each other bigger.Pass in guided vehicle road variable to crossing under hypersaturated state In key Path Recognition, application collaborative hierarchical signal timing algorithm dynamic, static, point crossing layer, critical path layer, single-point are handed over Prong layer, optimizes the control program of the variable guided vehicle road in whole crossing, is to alleviate the effective and feasible way of hypersaturated state, crossing Footpath.

Summary of the invention

For deficiency of the prior art, the technical problem to be solved in the present invention there are provided a kind of based on holographic road network Tide flow stream Lane use control method.

For solving above-mentioned technical problem, the present invention is realized by below scheme: can based on holographic road network tide flow stream Becoming lane control method, the method comprises the following steps:

Step one: carrying out crossing modeling by holographic road network feedback traffic flow real time status, the modeling of this crossing is logical Cross all kinds of video stream class in road network, sensing class, data class Real-time and Dynamic feedback cross mouth Dynamic Traffic Flow truth, to collection The image joint in region, fusion, form data characteristics；

The modeling of described crossing comprises the following steps:

1), understand from crossing geometry topological property, path space characteristic, traffic stream characteristics, traffic signalization characteristic The traffic characteristics of crossing, finds the variation characteristic of traffic flow in crossing；

2), analyze the risk factor of crossing tidal congestion, determine crossing overflow, green light sky put, be detained queuing for The impact that intersection traffic blocks up, determines the process that hypersaturated state is formed；

3), the traffic parameter analyzed required for urban road intersection traffic circulation state, the various friendship of comparative analysis are determined The pluses and minuses of logical operation information acquisition method and the adaptability to hypersaturated state traffic signalization；

Step 2: analyze intersection entrance wagon flow and turn to equilibrium degree and variable guided vehicle road utilization rate, variable guiding is set Lane detector, described variable guided vehicle road detector acquisition track takies situation, occupation rate, data on flows, analyzes difference and turns Obvious unbalanced difference whether is there is to wagon flow；Described variable guided vehicle road detector is additionally operable to record the traffic respectively turned to Stream, redefines the traffic flow ratio of each phase place, configures suitable phase combination, the signal period, green according to new flow-rate ratio The lamp time；

Step 3: set up variable guided vehicle road crossing upstream vehicle and seamlessly transit pattern, crossing upstream detection is set Device, to realize the automatic triggering of variable guided vehicle road turning function；

It is additionally provided with double stop line and pre-signal control, is set to red light by pre-signal, is intended to enter variable guided vehicle road Vehicle treat after second row stop line；

Step 4: carry out coordinated signals tidal congestion crossing changeable driveway and guide, crossing changeable driveway signal is entered Row timing design, wherein, described carry out timing design to crossing changeable driveway signal and includes signal timing dial under low saturation Singnal configuration design under design and high saturation, flows to a mouthful track key flow according to heavy traffic after arranging variable guided vehicle road The most saturated divide.

Further, in step one, described video stream class at least include traffic surveillance videos class, illegal evidence obtaining video class, Car license recognition class, unmanned plane gather road network video monitoring class；

Described sensing class at least includes that geomagnetism detecting class, Coil Detector class, microwave radar detection class, RFID detect class, indigo plant Tooth harvester class；

Described data class at least includes vehicle GPS terminal data, cell phone type OD path, mobile terminal data class.

Further, in step 3, described crossing upstream detector includes first row detector and second row detector；

Described first row detector is responsible for detecting whether vehicle occurs secondary to queue up, for variable guided vehicle road Self Adaptive Control Or the adjustment of signal timing dial strategy provides foundation；

Triggering of described second row detector retrains the trigger condition that variable guided vehicle road function occurs to change, and is variable The selection triggering the moment of guided vehicle road Self Adaptive Control provides data support.

Further, in step 4:

Under low saturation, former saturated heavy traffic flows to mouthful track key flow and becomes after increasing variable guided vehicle road For unsaturated state, signal control method uses phase saturation principle to carry out timing, and control target selection is unsaturated state；Former Unsaturated light traffic flows to the unsaturated state not yet after reducing track quantity of mouthful track, and signal control method uses mutually saturated Degree principle carries out timing, controls target selection crossing total delay minimum；

Under high saturation, signal control method is: determine according to the intersection signal cycle duration upper limit or flow-rate ratio Signal period；For unsaturation phase place, choose that the higher limit of saturation is counter pushes away effective green time；For saturated or oversaturated Key flow, its green time distributes remaining effective green time, the saturation of unsaturation phase place according to phase saturation principle Higher limit is not more than 0.9.

Further, in step 3, variable guided vehicle road includes that variable guided vehicle road length is arranged, this variable guided vehicle road Length Design Method is as follows:

For signalized crossing import track, broadening length L depends on Through Lane queue length l1, left-hand rotation Track queue length l2 and right-turn lane queue length l3；

Its computing formula is: L=max (l₁,l₂,l₃)；

For Through Lane (l1), its broadening segment length is the interior car arrived during should accommodating a cycle red light and amber light ?；

Vehicle queue length computing formula is:

In formula: C--intersection signal Cycle Length s；Nl--Through Lane quantity；Ql craspedodrome wagon flow flow, veh/h；gs Keep straight on and the effective green time s of right-hand rotation phase place；The queue length m of mono-vehicle of lm--, generally takes 7-8 rice；

For left turn lane (l2), determine that the broadening segment length important factor in order of left turn lane includes: design hour is handed over Flux；The amount of cycles estimated for each hour, if Cycle Length increases, then broadening section also will increase；Signal phase and timing；

The maximum queue length l2 of the signalized crossing left turn lane broadening arranging left-hand rotation dedicated phase is:

$l_2=\[\frac{l_n(1-p)}{l_n(Q_2,C)-l_n(S_L,g_L)}-1\]\frac{l_m}{N_2};$

In formula: Q2 peak hour left-turn volume；N2 left turn lane quantity；The reality of mono-left turn lane of SL is satisfied With flow rate veh/h；GL turns left to protect the effective green time s of phase place；P confidence probability, typically with 95%, 90% or 85% Calculate；

Based on left turn lane and the different qualities of double left turn lane, double left turn lane can be entered with all left turning vehicles Ratio-dependent critical probability:

$P_{rob}=\underset{k=0}{\overset{2l}{\Σ}}\underset{j=0}{\overset{l-1}{\Σ}}\frac{{\left(LT\right)}^k{e}^{-LT}}{k!}\×\frac{{\left(TH\right)}^j{e}^{-TH}}{j!}+\underset{k=0}{\overset{2l}{\Σ}}\underset{j=1}{\overset{\mathrm{\∞}}{\Σ}}\left\{\frac{{\left(LT\right)}^k{e}^{-LT}}{k!}\×\frac{{\left(TH\right)}^j{e}^{-TH}}{j!}\×\frac{(k+L-1)!\×j!\×k!}{\[k!\×(L-1)!\]\×(k+j)!}\right\};$

In formula: L represents the length of DLTL in units of vehicle number；

The average arrival rate of LT each red light phase place left turning vehicle；

The average arrival rate of TH each red light phase place through vehicles；

The broadening segment length of double left turn lane is determined further according to large car and the ratio of compact car and Vehicle length.

Further, in step 4, carry out coordinated signals tidal congestion crossing changeable driveway guiding and also include phase dealings The crossing tidal congestion processing method of road tide flow phenomenon, this processing method is as follows:

By the cluster analysis of tide flow statistical time range, carry out drawing of statistical time range according to traffic flow and flow direction distribution Point, use clustering algorithm to judge whether traffic flow has cyclically-varying rule；

Clustering algorithm includes data matrix and difference matrix, and clustering algorithm carries out cluster analysis based on difference matrix, When data are given with the form of data matrix, it should first data matrix is converted to difference matrix；

1) data matrix is object--attribute structure, if set of data samples X, there are n object, p attribute, the sample of cluster Integrate the data matrix as n × p:

2) difference matrix is object structure, deposits all n objects difference each other, generally uses n × n Matrix represents:

In formula: d (i, j) difference between object i and object j；This numerical value closer to 0, represent object i and object j that This is the most similar；This numerical value, closer to 1, represents that object i and object j is the most dissimilar；

Set of data samples X is divided into k race, and each race is the set of corresponding data sample, similar sample in same family, phase Difference is originally in the most of the same clan；Race C1=(1,2 ..., k) in the quantity of sample be ni, Ci=(1,2 ..., k) be the subset of x, full Foot: C₁∪C₂∪…∪C_k=x and C_i∩C_j=φ, i ≠ j；

The barycenter of race is the average of sample, it is not necessary to be the actual point in race；The average of race's Ci sample is:

In formula: the average of mi race Ci sample；

The quantity of ni race Ci sample；

Difference degree between two objects determines by calculating the distance between object, and formula is:

$d(i,j)=\sqrt{\left(\right|x_{i1}-x_{j1}{|}^2+|x_{i2}-x_{j2}{|}^2+\mathrm{...}+|x_{ip}-x_{jp}{|}^2)};$

In formula, i=(xi1, xi2 ..., xip), j=(xj1, xj2 ..., xjp), represent a p dimension data object respectively；

K-means clustering algorithm is using mean square deviation as criterion function:

In formula: the mean square deviation sum of all objects in E--data set；

The quantity of k--race；

The data object that x--is given, multidimensional；

The meansigma methods of mi--race Ci, multidimensional；

This clustering criteria is intended to make k obtained race have the characteristics that；Each race itself is the compactest, between each race to the greatest extent May separate；

Data-oriented sample set X, is divided into k race │ C1, C2 according to similarity degree between data point by data acquisition system ..., Ck │'s Process is defined as cluster, and similar sample is in same family, and different sample is in the most of the same clan；

The core concept of clustering algorithm is that n data object is divided into k race, makes the data point in each cluster gather to this The quadratic sum at class center is minimum；Number k that algorithm input is race and comprise the data set of n object；Algorithm be output as k race its Algorithm process process is as follows:

1) from n object, k object is arbitrarily chosen as initial cluster center；

2) calculate each object distance to each cluster centre respectively, object is assigned in closest cluster；

3), after all objects are assigned, the center of k cluster is recalculated；

4) calculation criterion function；

5) until criterion function no longer occurs significant change, the 2nd is otherwise repeated) to 4) step；

Crossing changeable driveway arranges primary condition:

Arranging of the variable guided vehicle road in crossing needs to consider certain objective condition, generally includes road conditions and traffic Condition；Under meeting certain road canalization, traffic behavior, could consider to arrange changeable driveway；Use for reference section changeable driveway Bar is set

Part, urban intersection changeable driveway arrange primary condition have following some:

The road conditions that crossing changeable driveway is arranged is:

1) crossing inlet is not suitable for enlarging or widens；

2) the track quantity of exit lane is no less than 2；

3) there is not median strip or streetcar track in the crossing inlet track arranging changeable driveway；

The transportation condition that crossing changeable driveway is arranged is:

1) there is obvious tide flow phenomenon in the upstream and downstream section being connected with crossing；

2) crossing inlet track is a certain turns to wagon flow to there is tide flow phenomenon, and generation is blocked up；

3) heavy traffic circulation in crossing inlet track is to using changeable driveway, outlet car to after removing changeable driveway, Outlet car to the traffic capacity meet transport need；

4) the road terminal arranging changeable driveway has sufficient traffic disposal ability, will not form new traffic bottlenecks, and Facilitate vehicles while passing changeable driveway；

Face intersect prong tide flow block up the form of expression changeable driveway arrange:

Crossing tide flow type is different, key flow is different, road intersection the most all exists tide flow, all can shadow Ring the set-up mode of crossing changeable driveway；

The crossing changeable driveway that single road exists when tide flow blocks up is arranged:

When single road exists tide flow jam, attach most importance to traffic flow imported car in morning peak period import track Road, craspedodrome tide flow, left-hand rotation tide flow, turns left and the main shape of variable guided vehicle road in craspedodrome tide flow three types Formula is:

1) craspedodrome tidal congestion；

2) left-hand rotation tidal congestion；

3) turn left and craspedodrome tidal congestion；

When road intersection all exists tide flow, the variable guided vehicle road in crossing arranges followed principle and single road When there is tide flow, crossing variable guided vehicle road setting principle is consistent；Owing to road intersection import track is the most likely arranged Changeable driveway, for meeting variable guided vehicle road setting principle, it is understood that there may be the phenomenon of path resource contention；

Changeable driveway when morning peak period road intersection all exists tide flow phenomenon is set to:

1) craspedodrome tide+craspedodrome tide；

2) craspedodrome tide+left-hand rotation tide/left-hand rotation tide+craspedodrome tide；

3) left-hand rotation tide+left-hand rotation tide；

Crossing is on the premise of arranging variable guided vehicle road, and readjusting signal time distributing conception is to alleviate intersection further The necessary means that salty traffic flow import track key flow blocks up；Set based on tide demand characteristics and variable guided vehicle road space Put scheme,

Analyze the control strategy of variable guided vehicle road and the method for designing of signal time distributing conception；

Singnal configuration design under high saturation:

Under high saturation, although crossing is provided with changeable driveway, but no matter under which kind of signal time distributing conception, former height Saturated heavy traffic flows to a mouthful track key flow degree of saturation and cannot be greatly lowered；Signal control method now is:

1) signal period is determined according to the intersection signal cycle duration upper limit or flow-rate ratio；

2) for unsaturation phase place, choose that the higher limit of saturation is counter pushes away effective green time；

3) for saturated or oversaturated key flow, its green time is remaining the greenest according to the distribution of saturation principle The lamp time；The saturation higher limit of unsaturation phase place not should be greater than 0.9；Saturated or oversaturated key flow, do one's best Distribute more green time, alleviate its saturation；

3., when a key flow (or a phase place) is in high saturation, coherent signal timing parameter determines method For:

$C=max\[\frac{1.5L+5}{1-Y},C_{max}\],(Y\≤0.9)$

A. signal period duration:

In formula: C signal period duration s；

L signal total losses time s；

Cmax intersection signal upper cycle limit s；

Y maximum stream flow compares sum；

B. the signal total losses time:

In formula: Ls starts s lost time；

A yellow time s；

I copper sulfate basic s；

Green light space-number in mono-cycle of k；

C. maximum stream flow is than sum:

In formula: the number of phases in mono-cycle of n；

I 1,2 ..., n；

The maximum stream flow ratio of yi the i-th phase place；

D. phase place maximum stream flow ratio:

In formula: the track group number under mi the i-th phase place；

Yi 1, yi2 ..., the flow-rate ratio of yimi the i-th phase place next track group；

E. the effective green time of unsaturation phase place:

In formula: the effective green time of gew unsaturation phase place；

W unsaturation phase place；

The maximum stream flow ratio of yw unsaturation phase place；

The saturation upper limit of xpw unsaturation phase place, no more than 0.9；

F. the effective green time of key flow: g_er=C-L-∑ g_ew；

In formula: the effective green time s of ger key flow place phase place；

R key flow；

If G. key flow comprises multiple split-phase position, the then effective green time of split-phase position:

In formula: the effective green time s of get split-phase position t；

The split-phase position comprised in t key flow；

The maximum stream flow ratio of yi split-phase position t；

The maximum stream flow ratio of yr key flow place phase place；

4., when two key flows (or two phase places) are in high saturation, signal timing dial parameter determination method is:

$C=max\[\frac{1.5L+5}{1-Y},C_{max}\],(Y\≤0.9)$

A. signal period duration:

B. the signal total losses time:

C. maximum stream flow is than sum:

D. phase place maximum stream flow ratio:

E. the effective green time of unsaturation phase place:

F. the effective green time of key flow:

$g_{er}=(C-L-\Σg_{ew})\frac{y_r}{y_r+y_u},g_{eu}=(C-L-\Σg_{ew})\frac{y_u}{y_r+y_u};$

In formula: r, u key flow；

The effective green time s of ger key flow r place phase place；

The effective green time s of geu key flow u place phase place；

The maximum stream flow ratio of yr key flow r place phase place；

The maximum stream flow ratio of yu key flow u place phase place；

If G. key flow comprises multiple split-phase position, the effective green time of split-phase position:

$g_{ei}=g_{er}\frac{y_t}{y_r},g_{ez}=g_{eu}\frac{y_z}{y_u};$

In formula: the split-phase position comprised in t key flow r；

The split-phase position comprised in z key flow u；

The effective green time s of get split-phase position t；

The effective green time s of gez split-phase position z；

The maximum stream flow ratio of yt split-phase position t；

The maximum stream flow ratio of yz split-phase position z.

Relative to prior art, the invention has the beneficial effects as follows: use holographic road network feedback traffic flow real time status to refer to lead to (traffic surveillance videos class, illegal evidence obtaining video class, Car license recognition class, UAV Video monitor to cross all kinds of video stream class in road network Class etc.), sensing class (geomagnetism detecting class, Coil Detector class, microwave radar detection class, RFID detect class, bluetooth harvester class etc.), Data class (vehicle GPS terminal data, cell phone type OD path, mobile terminal data class etc.) Real-time and Dynamic feedback cross mouth is dynamically handed over Through-flow truth, for tidal congestion crossing and key road segment, carries out urban road network traffic flow and crossing modeling, It is capable of variable guided vehicle road and controls new paragon；Interaction between traffic flow dynamic need and means of transportation static state supply Relation, to adapt to the disturbance that section wagon flow is run by intersection traffic circulation to non-equilibrium, minimizing, regulates road traffic delay side It is target to lack of uniformity, carries out crossing inlet wagon flow and turn to effective control of unbalanced characteristic and variable guided vehicle road；Carry The traffic resource spatio-temporal synergy management of sight in road network transport node and key road segment, the microcosmic point of appearing, sets up variable Guided vehicle road crossing upstream vehicle seamlessly transits pattern, it is achieved the variable guided vehicle road in tidal congestion crossing is arranged and induction control Method processed, promotes the urban highway traffic resource effective application level from supply side structural reform.

Accompanying drawing explanation

Fig. 1 is the flow chart of the road network tide flow stream variable guided vehicle road control of the embodiment of the present invention；

Fig. 2 is that wagon flow rolls stop line flow structure schematic diagram away from during single-point type intersection signal phase place；

Fig. 3 is that typical Two-phases signal controls crossing timing design flow chart；

Fig. 4 is Full Traffic-Actuated integrative design intersection flow chart；

Fig. 5 is crossing variable guided vehicle road setting procedure building-block of logic；

Fig. 6 is crossing variable guided vehicle road inductive control flowage structure schematic diagram；

Fig. 7 is that variable guided vehicle road signal timing dial controls logical flow chart；

Fig. 8 is unsaturated state signal timing dial logical flow chart；

Fig. 9 is crossing variable guided vehicle road Loop detector layout schematic diagram；

Figure 10 is that the variable guided vehicle road seamlessly transitted triggers and mark shift process figure；

Figure 11 is K-meaans clustering algorithm workflow diagram；

Figure 12 is crossing variable guided vehicle road setting procedure figure.

Detailed description of the invention

Below in conjunction with the accompanying drawings the preferred embodiments of the present invention are described in detail, so that advantages and features of the invention energy It is easier to be readily appreciated by one skilled in the art, thus protection scope of the present invention is made apparent clear and definite defining.

Following English Step is the meaning of step.

Refering to Fig. 1, it it is the flow chart of the holographic road network tide flow stream Lane use control method of the embodiment of the present invention.This Holographic road network tide flow stream Lane use control method in inventive embodiments includes:

Step1: carry out crossing modeling by holographic road network feedback traffic flow real time status；

In Step1, introducing holographic road network technology, monitoring urban road network traffic flow and crossing are dynamically handed in real time Through-flow, by video stream class all kinds of in road network, (traffic surveillance videos class, illegal evidence obtaining video class, Car license recognition class, unmanned plane are adopted Collection road network video monitoring class etc.), (geomagnetism detecting class, Coil Detector class, microwave radar detection class, RFID detect class, indigo plant to sensing class Tooth harvester class etc.), data class (vehicle GPS terminal data, cell phone type OD path, mobile terminal data class etc.) Real-time and Dynamic anti- Feedback crossing Dynamic Traffic Flow truth, image joint, the fusion to survey region, traffic gathers data characteristics.

The method of monitoring road network traffic flow and crossing modeling specifically includes in real time:

Step1.1: planning crossing task, frequency stream class (traffic surveillance videos class, illegal evidence obtaining video class, Car license recognition Class, unmanned plane gather road network video monitoring class etc.), and enter Mission Monitor interface；

Step1.2: (geomagnetism detecting class, Coil Detector class, microwave radar detection class, RFID detect class, indigo plant to get involved sensing class Tooth harvester class etc.) gather data entrance systematic analysis interface；

Step1.3: get involved data class (vehicle GPS terminal data, cell phone type OD path, mobile terminal data class etc.) real-time Dynamical feedback crossing Dynamic Traffic Flow truth, and carry out system data fusion treatment with 1.1 and 1.2；

Step1.4: image joint, the fusion to survey region, gathers data characteristics.Video Real-time Collection intersects with processing Mouth two aspects of data major investigation: the static traffic data in import track and the investigation of dynamic traffic data, all can use Holographic cognition technology realizes (various kinds of sensors and the data fusion feedback processing technology to system), mainly includes respectively turning to vehicle Data, signal timing dial data.The most as shown in Table 1 below.

Table 1: the static traffic data in import track and the survey data of dynamic traffic modeling

Step1.5: analyze intersection traffic characteristic；

In Step1.5, respectively from crossing geometry topological property, path space characteristic, traffic stream characteristics, traffic signal The aspects such as control characteristic understand the traffic characteristics of crossing, find the variation characteristic of traffic flow in crossing, for application supersaturation Traffic control strategy provides foundation.Wherein, geometry topological property is according to the road path number between Zhong Liangge crossing, crossing Classified in crossing by feature；Path space characteristic, analyzes road traffic facility design and traffic flow can be run the impact produced； Traffic stream characteristics, gives the descriptive model being applicable between hypersaturated state urban road cutout；Traffic signalization characteristic is divided Analysis basic control principle and control structure, lay a good foundation for setting up traffic control method.

Step1.6: analyze crossing tidal congestion and formed and evacuate mechanism；

In Step 1.6, analyze the risk factor of crossing tidal congestion, determine crossing overflow, green light sky put, stagnant Stay the impact that the harmful effects such as queuing are blocked up for intersection traffic, determine the process that hypersaturated state is formed；Judge traffic flow Traffic flow running rate when bottleneck dissipates, application transportation network load balancing theoretical description congestion status evacuates the traffic of process Stream feature, for analyzing the traffic behavior based theoretical of hypersaturated state crossing.

Step1.7: gather and process traffic circulation data；

In Step1.7, determine the traffic parameter analyzed required for urban road intersection traffic circulation state, compare point Analyse the pluses and minuses of various traffic circulation information collecting method and the adaptability to hypersaturated state traffic signalization, preferably intersect Data Source needed for mouth traffic status identification and traffic control.Set up traffic data abluent processing method, determine traffic flow Lose Data-parallel language, the differentiation of traffic flow wrong data, revise and the algorithm of traffic flow Reduction for Redundant Data, for traffic state analysis Lay the foundation.

Step1.8: the traffic circulation data according to processing carry out crossing modeling.

In Step1.8, single-point intersection signal controls to refer to utilize traffic light, turns to isolated crossing is various Wagon flow (artificial abortion) carries out right-of-way and the distribution of current duration, and safe, orderly, Effec-tive Function for road traffic have important Effect.

Intersection Controlling Fashion not only includes signal control, also including is open to traffic give way control, slow down and give way control etc., logical The upper wagon flow on the back burner of row power is required for waiting that can leading to during crossing gap occurs in the wagon flow having right-of-way OK, and for which kind of gap for can not having mandatory provisions by crossing gap, different human pilots are to can the execution of crossing gap Standard also differs.Integrative design intersection to the distribution of right-of-way with the most mandatory, by the face of current demand signal lamp Color i.e. can determine whether P Passable.

Signal control should be used when the secondary road volume of traffic is more than its traffic capacity；Meanwhile, when main roads traffic When amount is close to traffic capacity value, secondary road vehicles traverse main roads wagon flow is current has become difficulty, queue length and delay Time rises the most rapidly, now should set up integrative design intersection mode.Whether crossing uses signal to control to be primarily upon Two indices: the traffic capacity of crossing and the delay of crossing.

Signal controls to be effectively reduced the mean delay time of secondary road vehicle, necessarily causes main roads top The increase of separating vehicles delay time at stop.When using signal to control, it should consider that crossing changes the practice of forward and backward vehicles average delay Situation of change.When traffic signalization and stop give way controls/deceleration give way control two kinds control in Intersection Traffic Volume Increasing to during a certain critical point (usually 800-1200pcu/h), the delay level of two kinds of control modes is identical.Afterwards, stop Giving way control and giving way the delay time at stop controlled rapidly more than the delay time at stop of signal control with slowing down, it should using signal to control.

Single-point intersection control mode signal mainly includes three kinds:

Timing controls: timing controls to refer to that intersection signal has the control program determined, signal lights is when controlling Signal control is carried out according to control program periodic set in advance in Duan.It is applicable to the transport need little or volume of traffic of fluctuation relatively Situation (close to saturation) greatly.

Inductive control: inductive control refers to that the crossing that traffic light can detect according to traffic detector is real-time Traffic flow conditions, uses the proper signal display time to adapt to a kind of control mode signal of transport need.Inductive control pair The situation adaptability that vehicle arrives at random and transport need fluctuation is bigger is stronger.

Self Adaptive Control: Self Adaptive Control is a kind of control mode signal grown up based on artificial intelligence technology, tool There are the functions such as study, abstract, reasoning, decision-making, make appropriate adaptation response according to the change of varying environment, have stronger Real-time, robustness, independence.

The index that single-point intersection signal controls includes with timing design process indicator:

Signal period: refer to that signal light color shows the time required for one week according to the fragrance order set.

Signal phase: refer at signalized crossing, each controlled state (a kind of right-of-way), i.e. to each imported car The combination of the different light colors shown by road different directions, is defined as a signal phase.

Split: refer to Effective Green Time duration and the ratio of signal period duration of a signal period certain signal phase interior Value.

Effective Green Time duration: refer to that with in signal phase the ideal of available transit time equivalent state institute of passing through is right The long green light time answered.

Lost time: refer to the time cannot being utilized within the signal period, including front lost time, rear lost time, All-red period.Effective green time and lost time sum one complete signal period of composition.

Copper sulfate basic: refer to a phase place green light terminate to next phase place green light start between time interval, also It is defined as the phase transitions time, is made up of plus the complete red time amber light or yellow time.

Yellow time: refer to be arranged at after green light terminates in signal phase, remind human pilot red light to open.

Complete red duration: refer to that the lane signal lamp in all imports direction, crossing is all the state of red light, mainly make Huang Enter during lamp crossing and failing roll away from crossing vehicle can before the first bus of next phase place arrives conflict point safety Roll crossing away from.

It is that wagon flow rolls the signal of stop line flow structure away from during single-point type intersection signal phase place refering to Fig. 2 and Fig. 3, Fig. 2 Figure, Fig. 3 is that typical Two-phases signal controls crossing timing design flow chart.One of most important aspect of singnal configuration design To find suitable signal timing plan under prescribed conditions, pay close attention to following some:

Signal control can by separate conflict wagon flow play reduction accident occurrence risk effect (left turn traffic and to Straightgoing vehicle flow separation), but increasing of signal phase number can cause that time signal period is elongated, be delayed increase and current can efficiency The adverse effects such as reduction.

Although the increase of number of phases result in the substantial amounts of loss of time, but be because having separated between conflict wagon flow mutual Disturb and saturation volume rate is improved, above-mentioned adverse effect can be eliminated to a certain extent.When determining phase place number, Need careful consideration and equalize pros and cons.

The design of signal timing plan, it is necessary to and crossing geometric properties, the division in track, the volume of traffic, vehicle traveling speed Degree, pedestrian's street crossing require consistent.

Timing signal controls have changeless cycle duration, phase sequence and green time.But, road network Upper transport need time to time change, and violent fluctuation usually can occur in a short time, thus cause certain signal period In or a series of signal cycle in a large amount of accumulation of queuing vehicle, even can cause the Severe blockage of crossing.

Vicarious signal controls such issues that solve and is born, and by using wagon detector, can give sensing The real time information of formula signal controller Current traffic demand, thus according to information with in different cycles transport need change and certainly Determine green time distribution.Mainly include half actuated signal control and full actuated signal control two kinds, generally use full induced signal Control mode, the most as shown in Figure 4, Fig. 4 is Full Traffic-Actuated integrative design intersection flow chart to its signal control flow.

Step2: analyze intersection entrance wagon flow and turn to equilibrium degree and variable guided vehicle road utilization rate；

In Step2, due to variable guided vehicle road be applicable to solve crossing inlet track turn to unbalanced problem, grind Before studying carefully applicable elements and the control mode of variable guided vehicle road, need the traffic having the import track turning to unbalanced feature Characteristic is analyzed.Set up and evaluate coefficient and the computational methods turning to unbalanced intensity, by theoretical model with simulation evaluation not With lane function combination delay difference under difference turns to demand.

The traffic characteristics analysis in the import track in the present invention specifically includes:

Step2.1: analyze crossing inlet track and turn to unbalanced traffic characteristics；

There is period, directivity and turn to unbalanced phenomena, different periods in city signal crossing inlet lane traffic stream Need to use different crossing control programs, to ensure the crossing operational efficiency under different conditions, find out variable Guide vehicle The setting in road and the foundation of control method.

The Crack cause turning to unbalanced traffic is complicated, has both included urban road network allocation plan, residents'living habit Etc. external factor, also include the internal factors such as crossing control measure.On the one hand divide due to layout of urban functions and resident goes out The morning and evening difference of row, at many urban roads or the different periods of crossing, transport need presents notable difference；The most private The growth of people's car also exacerbates when improving urban road load and turns to unbalanced traffic impact.Traditional intersection traffic Signal control with way to manage tackle this period unbalanced turn to traffic time there is limitation, rely on merely letter Number timing control methods have resulted in path resource utilize unbalanced, intersection delay is excessive, respectively turn to queuing unbalanced etc. asks Topic.Concrete traffic characteristics is as follows: import track each turning traffic flow ratio has notable difference at different periods；Due to duty, live to divide From the unbalanced traffic behavior that turns to caused, there is certain periodicity and regularity；City large-scale activity, festivals or holidays etc. cause The unbalanced traffic behavior that turns to there is sudden and severity.

Respectively turning to the unbalanced of wagon flow queue length is that import track turns to unbalanced transport need to show the most intuitively, because of This will respectively turn to the wagon flow queue length difference triggering foundation as variable guided vehicle road functional mapping.Relatively it is as the criterion to be able to obtain True respectively turns to queue length, needs to analyse in depth wagon flow in the queuing behavior in import track.Specifically include that bogie car Stream queuing behavior and out of phase stage turn to wagon flow operation characteristic.

Step2.2: the crossing inlet track time-space distribution that combination configuration vehicles average delay is minimum；

For a certain specific crossing, owing to split sum and track sum are all definite values, if aggregate demand is logical with total The ratio of row ability is less than its threshold limit value, then there is one group of lane function division scheme so that the saturation of every section of wagon flow is all During less than its threshold limit value, required total green time is minimum.

Use minimum average traffic delay under MATLAB mathematical analysis computed in software various combination, change target inlet track single Steering flow analysis result is as follows: crossing total delay is as the increase of vehicle flowrate and increases, different lane function combinations The average traffic delay value obtained has notable difference；During different flow, always there is one group of optimum track compound mode, make crossing car all prolong Minimum by mistake.

Use minimum average traffic delay under MATLAB mathematical analysis computed in software various combination, change two, target inlet track Steering flow analysis result is as follows: it is poor that the crossing minimum average traffic delay time that different lane function composite types obtains exists Different, along with the change of target inlet track flow, difference changes the most therewith；Regardless of each steering flow, total there is one Excellent track is combined, and makes total delay minimum；Each steering flow converts in certain scope, can there is critical point；Work as target inlet Track flow compared with to little to import track flow, respectively turn to saturation relatively low time, each composite type difference is inconspicuous；When target is entered Mouthful track flow-rate ratio to import track maximum flow, respectively turn to saturation higher time, different track composite type difference is more Substantially.

Therefore, dynamic lane function arranges and is applicable to the import track that flow is bigger, and the conversion of lane function is opportunity A certain turn to when be in saturated or hypersaturated state.

Step2.3: the monitoring track functional mapping impact on import lane traffic in real time, and select evaluation index.

Theory analysis shows, the average traffic delay value obtained under the conditions of the difference added turning lane function combinations of import track is the poorest Different, combined by reform lane function, coordinate signal to control, delay and the queue length in target inlet track can be reduced, also The impact on other import tracks can be reduced.

Set up the evaluation index of signal timing dial traffic benefits when specifically including that the traffic capacity or saturation, delay, stroke Between, stop frequency, queue length, parking rate, oil consumption etc..For needing dynamically in the import track turning now to unbalanced characteristic Lane function combination combine with signal timing dial, thus more effectively tackle and this turn to the unbalanced traffic problems brought. Variable guided vehicle road is exactly based on the rational allocation to path space resource to improve the comprehensive utilization ratio of path resource, reduce into Mouth track average traffic delay.Propose variable guided vehicle road arranges condition, by turn to the unbalanced traffic queuing in import track, The analysis of operation characteristic, the set-up mode setting up facility required for realizing variable guided vehicle road dynamic mapping and lane function become The triggering method changed.

Variable guided vehicle road turns to the unbalanced traffic problems brought for solving import track, needs to meet space bar Part, signal timing dial condition, transportation condition.

Driveway partition mode is not mated with turning to transport need, shows as certain direction wagon flow queue length obvious on section More than other direction wagon flows, jam seriously, other direction lane saturations are relatively low, path resource utilization rate is the most high asks Topic.The notable difference of queue length is to turn to unbalanced traffic to show the most intuitively in import track, and by occupation rate (road Time occupancy) can be determined that the congestion status of road.Can determine variable by queue length with the combination of occupation rate The turning function conversion proper moment of guided vehicle road.When the direction queue length of import track or occupation rate are significantly greater than its other party To, when other added turning lane occupation rates are the lowest, the lane function of low occupation rate can be converted to the lane function of high occupation rate.In detail As shown in Figure 5, Fig. 5 is crossing variable guided vehicle road setting procedure building-block of logic.

Current variable guided vehicle road is adjusted to main with Artificial Control or timing, although simple to operate, but if convert Machine is improper can reduce traffic benefits.The sensing control to variable guided vehicle road can be realized by arranging variable guided vehicle road detector System, it is achieved the real-time control to variable guided vehicle road, improves crossing operational efficiency.

The support that the data such as the occupation rate needing flow, each added turning lane are set of variable guided vehicle road detector, rationally Lay the demand that variable guided vehicle road detector disclosure satisfy that the sensing of variable guided vehicle road controls.Variable guided vehicle road detector Quantity is set and disposes as follows with position:

According to the queuing behavior of crossing, the vehicle queue state in import track is divided into four parts: initial queue shape Become, queue up spread, queue up trace back, betting contest section.

Owing to queuing original position is basically unchanged, crucial foundation queuing terminal position judges queueing condition.

Variable guided vehicle road is mainly used in solving owing to import track turns to the unbalanced path resource caused to utilize inequality Problem, the utilization inequality of this path resource mainly shows as that queue length is unbalanced, respectively turn to wagon flow saturation unbalanced. When respectively turning to queuing difference to reach certain threshold value, tackle variable guided vehicle road turning function and convert.Judge following condition Carrying out trigger flow, the most as shown in Figure 6, Fig. 6 is crossing variable guided vehicle road inductive control flowage structure schematic diagram, its tool Body includes: queue length preliminary judgement；Turn to the judgement of wagon flow saturation；Variable guided vehicle road functional mapping triggers.

After the conversion of variable guided vehicle road turning function, need the adjustment coordinating signal timing plan to improve overall operation effect Rate.By formulating rational control strategy, reach to improve the purpose of intersection efficiency.After lane function converts, according to The traffic flow detected recalculates signal period and each phase place split, considers unsaturated state and saturation respectively Under, realized the collaborative optimal control of signal timing dial and lane function by different prioritization schemes, improve the current of import track Efficiency；By simulation software, the optimization control scheme proposed is evaluated.

Index for intersection evaluation traffic efficiency specifically includes that the traffic capacity, saturation, delay, stop frequency, row Team leader's degree, parking rate, oil consumption, journey time etc..Webster method and Akcelik method are the widest two kinds of single-points of current application Signal controls timing method.Wherein Webster method is to be delayed minimum control object solving optimal period duration, the party with vehicle Method Application comparison is wide, is for the more rational timing scheme be given in the case of low saturation；And Akcelik method be Introduce " parking penalty coefficient " on the basis of Webster method to be modified, and under high saturation, need to improve the traffic capacity, And the index that the method obtains more can reflect the delay situation of now crossing, but need to be optimized.It is thus desirable to combine Close and consider crossing different conditions, set up and control target and strategy.

, directivity period for import track turns to unbalanced traffic characteristic, and the control of variable guided vehicle road will be with Respectively turn to the triggering foundation that wagon flow queue length difference is changed as lane function, collaborative by lane function and signal timing dial Control, make import track saturation control in rational scope, and then reach to reduce crossing total delay, improve the traffic capacity Effect.

Take situation, occupation rate, data on flows by variable guided vehicle road detector acquisition track, analyze different bogie car Whether stream exists obvious unbalanced difference.First current variable guided vehicle road turning function is determined, if variable guided vehicle road is During left-hand rotation, whether detection craspedodrome wagon flow overflows, and left turn lane occupation rate is the most relatively low, belongs to after meeting certain trigger condition Property conversion, and according to respectively turning to flow rate that signal timing dial is adjusted.Control strategy under different traffic is different.

When import track saturation is relatively low, when i.e. path link inflow-rate of water turbine is less than its traffic capacity, using be delayed minimum as Controlling target can use tradition Robert Webster method to carry out cycle and signal timing dial calculating；

When a direction occurs high saturated, when i.e. traffic flow is near or above its traffic capacity, need to improve crossing The traffic capacity is target with reducing delay, now in order to alleviate the queuing in target inlet track, needs to increase supersaturation wagon flow The traffic capacity, and make total delay time in import track minimum.Variable guided vehicle road signal timing dial controls logic flow and refers to Fig. 7 Shown in.

The conversion of variable guided vehicle road function is relatively big, when lane function converts on the impact respectively turning to the traffic capacity Time, if signal timing dial not being adjusted, often less effective.Only by the synergism of lane function with signal timing dial, The current benefit that just can make import track reaches optimal.By adjusting the signal timing dial under different traffic, improve crossing The traffic circulation efficiency in the import track under spatio-temporal synergy control.

Variable guided vehicle road, after turning function converts, respectively turns to saturation volume rate also can change.By variable guiding Lane detector records the traffic flow respectively turned to, and redefines the traffic flow ratio of each phase place, configures according to new flow-rate ratio Suitably phase combination, signal period, green time.

Under unsaturated state, flow hinge is low, after changing variable guided vehicle road turning function, respectively turns to saturation x_i≤x₀Time, Need not phase place is adjusted, only optimal design-aside signal timing dial.

After variable guided vehicle road functional mapping, if respectively turning to saturation to be all not up to limit value saturation, then according to low stream Amount signal timing plan carries out signal timing dial.Along with the increase of flow, in the case of signal timing dial mode is constant, target inlet Queuing up in track to spill into detector, if now can not meet the change condition of variable guided vehicle road, then needs to use high stream During amount, signal timing plan is optimized, the most as shown in Figure 8.

Signal timing optimization during one direction supersaturation:

Along with import track flow increases, show a certain especially and turn to phase place x_i>x₀Time, now only rely on variable guiding When lane function conversion is insufficient for respectively turning to current demand, binding signal timing is needed to be adjusted, thus optimal control Scheme.

If occurring, oversaturated wagon flow is to reduce the wagon flow direction in track, illustrates that the conversion of lane function causes other to turn to The supersaturation of wagon flow, is therefore optimized with split by adjustment cycle duration.If oversaturated wagon flow occurring for increasing Add the wagon flow direction in track, in the case of illustrating only to increase a variable guided vehicle road, transport need can not be met, in satisfied increasing Should continue to change the turning function of a variable guided vehicle road in the case of adding a variable guided vehicle road.

Respectively turn to signal timing optimization when all reaching saturated:

Along with the increase of vehicle flowrate, import track can tend to blocking up, and now flow-rate ratio is significantly greater than other imports of same phase Track flow-rate ratio.For cross junction, if each steering flow in target inlet track is than being all significantly greater than to import track Each steering flow than time, conventional four phase places signal combination often result in the unbalanced of same phase counter flow saturation, flow High side's supersaturation, side's time-space distribution that flow is low is not fully utilized, and increases delay.Therefore, for imported car The characteristic in the import track of road high flow capacity, is combined on the basis of conventional four multiphase traffic time allocation schemes.

Step3: set up variable guided vehicle road crossing upstream vehicle and seamlessly transit pattern；

For applying the signalized crossing of variable guided vehicle road system, the intertexture between lane-change and the vehicle of vehicle Mainly completing in upstream, import track, whether whether its operation stablized, efficiently can be smoothed with variable guided vehicle road upstream vehicle again It is transitioned into import track closely related.By gathering and process the signalized crossing import track of variable guided vehicle road system Data, it is possible to by the feature extraction of traffic parameter, disclose the signalized crossing import track that variable guided vehicle road is set The operation characteristic of upstream vehicle.

Variable guided vehicle road crossing upstream vehicle of setting up in the present invention seamlessly transits pattern and specifically includes:

Step3.1: investigation arranges the import traffic of variable guided vehicle road；

The main purpose that the signalized crossing import track of variable guided vehicle road is investigated, it is simply that clearly arrange The interwoven region, signalized crossing upstream of the variable guided vehicle road appreciable impact factor on traffic retardance and traffic safety, quantifies Internal relation between interwoven region influence factor resource distribution various to signalized crossing upstream, quantitative analysis signal controls to hand over The lane-change concentrated area of prong upstream vehicle.

Step3.2: research import track vehicle lane-changing characteristic；

Vehicle with speed on for lane-change behavior two driving behaviors that to be vehicle most basic during advancing, lane-change row For be human pilot be to meet oneself driver comfort to require and have a mind to this track of avoiding taked, change to other lanes Driving behavior.Described by lane-change behavior is the characteristic of human pilot self driving, by the car to crossing surrounding vehicles The analysis of series of road environmental information, the adjustment such as speed, space headway, traffic sign and marked instruction, thus complete self and drive Sail the combined process of purpose.Vehicle lane-changing process includes: the detection of lane-change demand, lane-change feasibility, lane-change perform.According to driver The motivation of member is different, can be divided into pressure lane-change and free lane-change two kinds.

For applying the signalized crossing of variable guided vehicle road system, the lane-change behavior of vehicle is in import track Upstream selects lanes closer to free lane-change, human pilot generally according to driving experience, closer to import track solid line, car Lane-change behavior closer to force lane-change.Upstream vehicle lane-change characteristic master in import track before and after variable guided vehicle road power and energy The following aspects to be shown: import track upstream vehicle shifts to an earlier date lane-change；Vehicle is in the scope of upstream, import track 20-40 rice It is to enter main lane-change region；Choosing lane probability；Variable guided vehicle road housing choice behavior models.

Step3.3: research import track vehicle speed characteristics；

Import track vehicle speed characteristics emphasis reflects from the following aspects: 1. upstream vehicle speed and imported car The relation of road vehicle queue；2. lane-change speed characteristics in the transition period；The most variable guided vehicle road is the upstream vehicle speed in target track Degree characteristic.

Step3.4: understand import track vehicle safety characteristic；

For signalized crossing, speed during import track upstream vehicle entrance broadening section is more normal than in upstream On section, travel speed is low, especially turns to when be red light accordingly in import track, and upstream vehicle all can have significantly Slow down, wait in line to let pass at import track.The upstream, import track arranging variable guided vehicle road becomes apparent from, and particularly exists Before and after variable guiding traffic signs changes, the information received due to variable guiding traffic signs is likely to difference, just Can cause and be susceptible to interference between upstream vehicle, the probability clashed between vehicle is higher than peacetime state.Main from conflict Characteristic and mistake two aspects of the lane-change form of expression embody.

Step3.5: variable guided vehicle road length, mark and clean up time are set.

The optimal design-aside of variable guided vehicle road length be variable guided vehicle road system can the important step of Effec-tive Function, car Road design is long will make troubles for vehicle lane-changing, even can cause violating the regulations, violation traveling；Lane design is too short can increase lane-change Randomness, before and after the most variable guided vehicle road turning function changes, the mutual disturbance between easy surge vehicle, cause The confusion that import track is unnecessary.The optimal design-aside of variable guided vehicle road length, also determines that the letter arranging variable guided vehicle road Number control crossing the key affecting the head of district.

Variable guided vehicle road arranges premise and principle

Premise is set:

Signal timing dial condition, under the conditions of existing intersection signal timing, it is difficult to solve to intersect by signal timing dial means Mouth import lane flow turns to unbalanced problem.Secondly, turn left and craspedodrome wagon flow has different phase places and arranges.

Road traffic condition, signalized crossing import track is not suitable for widening or many canalizations track, respectively turns to wagon flow Lack of uniformity is notable.

Setting principle:

Variable guided vehicle road length is exactly the physical length in import track, and according to traffic rules, vehicle is real in import track Line segment does not allow changing Lane, and real segment is the most too short will affect safety and the stability of crossing, and the long of design then can not body The motility of existing changeable driveway.

Right of way is relatively unambiguous, variable guided vehicle road travel or wait travel vehicle in, it is thus achieved that direction information be Clear and definite, should not occur in the fleet waiting in line to let pass, direction information and fore-aft vehicle that a certain vehicle obtains all differ Cause.

Variable guided vehicle road will be based on a turning function in most of the time section, will be not affect as far as possible when arranging Main turn to vehicle based on, equalize with the queue length of each added turning lane and turn to target.

Variable guided vehicle road Design of length:

For signalized crossing import track, broadening length L depends on Through Lane queue length l1, left-hand rotation Track queue length l2 and right-turn lane queue length l3, its computing formula is: L=max (l₁,l₂,l₃).For Through Lane L1, its broadening segment length is the interior vehicle arrived during should accommodating a cycle red light and amber light, and vehicle queue length calculates public affairs Formula is:In formula: C--intersection signal Cycle Length s；Nl--Through Lane quantity；Ql keeps straight on Wagon flow flow, veh/h；Gs keeps straight on and the effective green time s of right-hand rotation phase place；The queue length m of mono-vehicle of lm--, generally takes 7-8 rice.

For left turn lane l2, determine that the broadening segment length important factor in order of left turn lane includes: design hour traffic Amount；The amount of cycles estimated for each hour, if Cycle Length increases, then broadening section also will increase；Signal phase and timing.

The maximum queue length l2 of the signalized crossing left turn lane broadening arranging left-hand rotation dedicated phase is:

$l_2=\[\frac{l_n(1-p)}{l_n(Q_2,C)-l_n(S_L,g_L)}-1\]\frac{l_m}{N_2}$

In formula: Q2 peak hour left-turn volume；

N2 left turn lane quantity；

The actual saturation volume rate veh/h of mono-left turn lane of SL；

GL turns left to protect the effective green time s of phase place；

P confidence probability, typically calculates with 95%, 90% or 85%.

Based on left turn lane and the different qualities of double left turn lane, Kikuchi S is long to double left turn lane import tracks In the research that degree is arranged, the ratio-dependent critical probability of double left turn lane (DLTL) can be entered with all left turning vehicles:

$P_{rob}=\underset{k=0}{\overset{2l}{\Σ}}\underset{j=0}{\overset{l-1}{\Σ}}\frac{{\left(LT\right)}^k{e}^{-LT}}{k!}\×\frac{{\left(TH\right)}^j{e}^{-TH}}{j!}+\underset{k=0}{\overset{2l}{\Σ}}\underset{j=1}{\overset{\mathrm{\∞}}{\Σ}}\left\{\frac{{\left(LT\right)}^k{e}^{-LT}}{k!}\×\frac{{\left(TH\right)}^j{e}^{-TH}}{j!}\×\frac{(k+L-1)!\×j!\×k!}{\[k!\×(L-1)!\]\×(k+j)!}\right\}$

In formula: L represents the length of DLTL in units of vehicle number；

The average arrival rate of LT each red light phase place left turning vehicle；

The average arrival rate of TH each red light phase place through vehicles.

The broadening segment length of double left turn lane is determined further according to large car and the ratio of compact car and Vehicle length.

For right-turn lane, import track must provide for enough spaces and ensures that right-turning vehicles slows down and turns.If space Deficiency, will cause both sides impact to import track.If first is to keep straight on and right-hand rotation split-phase position traveling, entering of turning roadway Mouth can not be utilized by craspedodrome queuing vehicle；Second is that right-turning vehicles overflows, and blocks adjacent Through Lane, leads to through vehicles Row causes obstruction.The utilization in track all can be impacted by both of these case, and increases the probability knocking into the back and being delayed.Meanwhile, Right-turning vehicles it is also contemplated that the requirement of stopping sight distance.

The broadening segment length in import track sets according to left-hand rotation, craspedodrome and right-turning vehicles maximum queue length in principle Meter, so can avoid respectively turning to interfering and hindering between wagon flow to greatest extent.

The effect of variable guided vehicle road mark:

Variable guided vehicle road mark is most important ingredient in variable guided vehicle road system, the most variable In the import track of guided vehicle road system, the information that upstream vehicle provides according to variable guided vehicle road mark, enter to enter accordingly Mouth track broadening section, waits to be released.Variable guided vehicle road mark upstream to provide the most special information by vehicle, maximum The information making human pilot provide according to variable guided vehicle road mark possibly, makes corresponding judgement, enters suitable import Track.

The position of variable guided vehicle road traffic signs determines:

Variable guided vehicle road traffic signs is usually located at import track real segment, i.e. broadening section upstream, import track.As for Being placed at the end points of broadening section upstream, be also located at the gradual change of imported car road, the operation for variable guided vehicle road system is imitated The impact of fruit not essence.Its main setting principle is, variable guided vehicle road is to the change energy of traffic signs turning function Enough coordinate mutually with the signal timing dial of signalized crossing.

The signalized crossing influence area length arranging variable guided vehicle road determines

The concept of the signalized crossing zone of influence be section is further divided into the signalized crossing zone of influence and Basic road.Arranging the signalized crossing zone of influence of variable guided vehicle road, its confining spectrum is: signalized crossing shadow Xiang Qu upstream end points is before vehicle enters import track broadening section, due to the shadow by signalized crossing upstream changeable placard Ring and cause vehicle be different from basic road state travel starting point, upstream end points to variable guiding traffic mark board away from From being defined as distance of visual cognition.

This segment distance distinct feature is that most the lane-change stagnation of movement behavior of vehicle, and downstream end points is that signalized crossing stops Line.The signalized crossing zone of influence arranging variable guided vehicle road is a length of: distance of visual cognition and variable guided vehicle road length it With.

Reasonably import lane length is provided with and helps upstream and preferably sail signalized crossing import track into, towards Whether the control strategy of the upstream vehicle that variable guided vehicle road turning function changes, just can be smoothly transitted into for vehicle Really import track is equally important.

The control mode of variable guided vehicle road system:

The signal of the variable guided vehicle road system in the past proposed controls all to be built upon signalized crossing import track , there is clear and definite pre-signal stop line upstream, if upstream vehicle enters variable guided vehicle road and needs to wait at the stop line of upstream.But It is that rarely crossing is adopted in this way in reality applies the signalized crossing of variable guided vehicle road, but according to entering The real time status of mouth, is selected a good opportunity by traffic police on duty and selects to trigger the lane changing of variable guided vehicle road, lead upstream is variable Being changed to the direction, track of lane traffic sign board, sign board upstream vehicle changes according to variable guided vehicle road and carries out Turning to, import track does not has obvious cleanup process, but has reached the effect emptied.

In theory, for being provided with the signalized crossing import track of pre-signal, applying variable guided vehicle road During system, can specify right of way, substantially without the phenomenon occurring upstream vehicle to be strayed into mistake track, but it is suitable to be to increase pre-signal Control in increasing newly-increased signal on section, the delay in section can be increased and control cost, and if pre-signal red light wait Overlong time, causes the queuing on stop line more, and the mutual disturbance between upstream vehicle can substantially increase, and is unfavorable for that vehicle converts Track.

If carrying out the proper of variable guided vehicle road control utilization according to variable guiding traffic mark board, can be the most obvious Ground improves the operational efficiency of crossing, but there is also owing to the change of variable guided vehicle road turning function does not has driver Carry out the clearest and the most definite prompting, cause vehicle to carry out mistake lane-change, increase the mutual disturbance of upstream vehicle, import track confusion, very Occur to the phenomenon making import track " locked ".

Crossing upstream detector is laid and trigger condition

Lay induction coil group in import track and realize the automatic triggering of variable guided vehicle road turning function, ensure as far as possible into Mouthful track upstream vehicle can be smoothly transitted into import track, first analyzes each steering flow unbalanced and cause variable Guide vehicle The triggering logic that road function changes, then provides laying and the trigger condition of crossing upstream detector.

The distribution method of crossing upstream detector

The Self Adaptive Control application of variable guided vehicle road needs the support of real time traffic data, crossing upstream detector cloth If position, need flow and take situation and judge, the length of upstream detector present position, crossing distance stop line Relevant with each phase place long green light time, import lane length, changeover portion alignment condition.Crossing upstream detector includes fixing left-hand rotation First row detector on track and the second row detector on fixing Through Lane, first row detector is responsible for detection vehicle and is No generation secondary is queued up, and the adjustment for variable guided vehicle road Self Adaptive Control or signal timing dial strategy provides foundation.Second row There is the trigger condition of transformation in the variable guided vehicle road function of further hard constraints that triggers of detector, the most also leads for variable Data support is provided, the most as shown in Figure 9 to the selection triggering the moment of track Self Adaptive Control.

The triggering logic of variable guided vehicle road attribute

The triggering logic of guided vehicle road attribute variable for first row detector illustrates qualitatively:

First row detector on fixing left turn lane is in high occupation rate state

When the first row detector on when turning to as turning left of variable guided vehicle road, fixing left turn lane is high occupation rate shape State, variable guided vehicle road detector occupation rate situation is necessarily also at high value, now cannot be by applying variable wire track Improve the traffic efficiency of signalized crossing, for traffic administration person, it may be considered that use high flow capacity timing scheme Alleviate the state that import track blocks up, if high flow capacity timing scheme can greatly affect other import and export track, direction flows Release, then this crossing and be in congestion status, it is impossible to control to solve congestion problems by single-point.

When the first row detector on when turning to as keeping straight on of variable guided vehicle road, fixing left turn lane is high occupation rate, Need the occupation rate situation of the second row detector on variable guided vehicle road detector and fixing Through Lane is detected, when When second row detector on variable guided vehicle road detector and fixing track is in low occupation rate state, it is considered to by variable guiding Track attribute is become left turn lane from Through Lane, improves the traffic capacity of left turning vehicle, passing through similarly for through vehicles Do not result in the biggest impact.Occupy when the second row detector on variable guided vehicle road detector and fixing Through Lane is in height During rate state, it is impossible to by applying variable guided vehicle road to improve the traffic efficiency of signalized crossing.

First row detector on fixing left turn lane is in low occupation rate state

When the first row detector on when turning to as turning left of variable guided vehicle road, fixing left turn lane is low occupation rate shape State, the occupation rate situation of variable guided vehicle road detector is necessarily also at lower value, if now on fixing Through Lane the Two detector row are in high occupation rate state, it is considered to from left turn lane, variable guided vehicle road is become Through Lane, if fixing Second row detector on Through Lane is in low occupation rate state, then import track is in low flow state, need not take it His traffic administration control measure.

When turning to as keeping straight on of variable guided vehicle road, on the most variable guided vehicle road detector and fixing Through Lane Which kind of state second row detector is in, and the attribute of variable guided vehicle road does not changes.

Second row detector on fixing Through Lane is in high occupation rate state

When turning to as turning left of variable guided vehicle road, to the first row detector on fixing left turn lane and variable guiding The occupation rate situation of lane detector detects, when the first row detector on fixing left turn lane and variable guided vehicle road are examined When survey device is in low occupation rate state, variable guided vehicle road attribute is become Through Lane from left turn lane, improve self-moving vehicle The traffic capacity.

When the second row detector on when turning to as keeping straight on of variable guided vehicle road, fixing Through Lane is high occupation rate shape State, the occupation rate situation of variable guided vehicle road detector is necessarily in high value, now cannot be by applying variable guided vehicle road Improve the traffic efficiency of signalized crossing.

Second row detector on fixing Through Lane is in low occupation rate state

When turning to as turning left of variable guided vehicle road, the attribute of variable guided vehicle road does not changes.

When the second row detector on when turning to as keeping straight on of variable guided vehicle road, fixing Through Lane is low occupation rate shape State, variable guided vehicle road detector occupation rate situation is necessarily also at lower value.

In sum, on the basis of flow condition meets trigger condition, it is smoothly transitted into imported car based on upstream vehicle The variable guided vehicle road control flow in road is the most as shown in Figure 10.

From fig. 10 it can be seen that be not to show according to first row detector height this relatively coarse mode of occupation rate Trigger logic, but under each steering flow has met trigger condition, provide second row detector and also should meet certain condition Time, just triggering variable guided vehicle road traffic signs, change variable guided vehicle road turning function, such guarantee upstream vehicle obtains To clear and definite direction information, will not make a mistake lane-change, causes the situation that import track is chaotic to occur.

Variable guided vehicle road turning function changes on the basis of meeting flow/occupation rate trigger condition, comprehensively examines Consider the trigger condition of guided vehicle road upstream detector different, variable of phase sequence condition, turning function change on import track Can tourist bus be smoothly transitted into import track considerable influence.

The moment that variable guided vehicle road turning function changes selects

The signalized crossing arranging protection phase place can avoid colliding with each other between left turn traffic and craspedodrome wagon flow, but also There is first release left turning vehicle and the most first discharge the selection of through vehicles, i.e. Problem of phase sequence.The design of phase place phase sequence not only with The geometrical property of crossing is relevant, also has close contacting with factors such as traffic characteristicses.In actual application, different phases In the moment that the variable guided vehicle road turning function that ordered pair is answered changes, can variable guided vehicle road upstream vehicle be seamlessly transitted Have a significant impact to import track.

In actual application, hand over owing to the control at crossing is all rule of thumb changed guiding by the traffic-police of administration section The sensing of logical sign board, converts the time point selected during variable guided vehicle road direction moment within cycle phase the most not to the utmost With.When import track smoothness is analyzed, traffic conflict is defined as: two, the zone of influence or above vehicle on import track Running or in quiescing process, both sides perceive the existence of danger, if not taking any effective measures, accident will necessarily be had to produce Raw, and once take measures accident can be avoided completely to occur.This perceive dangerous existence from traffic participant and last till thing Therefore the process effectively prevented is designated as a traffic conflict.

The signalized crossing phase sequence of different cities is different, it is common that first discharges through vehicles, discharge left-hand rotation afterwards Vehicle and first discharge left turning vehicle, rear release two kinds of strategies of through vehicles.

Variable guided vehicle road clean up time designs

Double stop line and pre-signal control are set, are set to red light by pre-signal, are intended to enter the car of variable guided vehicle road Wait after second row stop line.Main signal is set to red light to variable guided vehicle road, thus reaches to empty variable Guide vehicle The purpose of road vehicle.The present invention proposes be not provided with Article 2 stop line and pre-signal but by rationally selecting track to turn to In the moment of changes of function, utilizing original signal lights to provide, green light realizes changeable driveway empties purpose, by import track other The green light phase time turned to completes emptying of vehicle in variable guided vehicle road.

Clean up time mainly allows existing vehicle in variable guided vehicle road can be smoothly through crossing, does not affect variable After guided vehicle road turns to conversion, the operation of variable information sign board direction indication upstream vehicle.Vehicle is turned in order to reduce other Delay, the basic demand of clean up time is to meet vehicle in all tracks before variable guided vehicle road turning function changes In green time, all sail out of signalized crossing, i.e. clear sky minimal time duration is proposed requirement.

Too short when emptying duration, easily occur that variable guided vehicle road upper part through vehicles can not roll away from emptying the period Crossing, and variable guided vehicle road upstream vehicle is owing to receiving the direction information of variable guiding traffic mark board, as turned to letter Breath is turn right (or craspedodrome), and entering variable guided vehicle road ranks, and this occurs as soon as queuing vehicle in variable guided vehicle road and turns to Inconsistent, easily cause import track chaotic.

Variable guided vehicle road turning function change premise is that the vehicle on the front direction indication of conversion is less, and indicates after converting On direction, vehicle is too much, supersaturation often occurs.Due to each bar track queue length approximately equal of identical travel direction, When clean up time disclosure satisfy that vehicle pass-through demand in variable guided vehicle road, also it is approximately considered and meets other equidirectional lane Demand

Step4: carry out coordinated signals tidal congestion crossing changeable driveway and guide.

In Step4, by signal timing dial, the variable guided vehicle road of crossing inlet, the coordination of section break-in traffic organization Management and control, make full use of existing urban road space resource, adapts to different periods crossing inlet wagon flow and turns to inequality The change requirement of the dynamic traffic demand characteristics such as weighing apparatus, tide direction, section is asymmetric.Meanwhile, when each track in section and crossing When overall transport need is continued above confined space supply capacity, traffic congestion and vehicle queue phenomenon will necessarily be produced, and Multiple crossings alive, whole piece section may be spread to from a crossing, regional traffic jam problem time serious, can be caused.This Time, spatial dimension of how blocking up reduces as far as possible, reduces vehicle queue and just becomes road with other crossing, the impact in section The important goal that traffic time-space distribution coordination optimization controls.Unreasonable, intersection signal timing is designed from function path and structure The reason of two aspects of requirement that design cannot meet the traffic flow of change is started with, and carries out collaborative coordinated signals；Gather around from traffic Prevent the pernicious diffusion of traffic congestion at stifled generation point, thus avoid producing zonal traffic congestion, ease up to reach to improve Solve the purpose of traffic congestion.

The conversion of the tidal congestion characteristic of intersection traffic stream guided vehicle road the most variable with crossing space resources is carried out Arrange flexibly and coordinate mutually, be the root problem needing to solve.Based on cross junction difference tide flow type or composite type Under turn to the form of expression of blocking up of wagon flow, the condition that arranges and the principle of variable guided vehicle road are proposed, in different tide flow types Or the bridging mode of the method to set up of the variable guided vehicle road in crossing and the variable guided vehicle road in upstream and downstream crossing under composite type.

The crossing tidal congestion form of expression

Crossing tide flow type mainly has: left-hand rotation tidal congestion, craspedodrome tidal congestion, turns left and craspedodrome tidal congestion Three classes.

There is the crossing tidal congestion form of tide flow phenomenon in single road

When the tide flow of crossing is determined by tide flow of keeping straight on, definition craspedodrome wagon flow is key flow；Work as intersection When the tide flow of mouth is determined by the tide flow that turns left, definition left turn traffic is key flow；When crossing tide flow by When left-hand rotation and craspedodrome tide flow together decide on, definition is turned left and craspedodrome wagon flow is key flow.

Craspedodrome tidal congestion

When crossing tide flow phenomenon is key flow decision by wagon flow of keeping straight on, owing to morning peak period wagon flow is notable Increasing, the form of expression of blocking up is that craspedodrome wagon flow is blocked up, and keeps straight on and do not block up with left turn traffic in other import tracks.

Left-hand rotation tidal congestion

When crossing tide flow phenomenon is determined by the tide flow that turns left, owing to wagon flow peak period morning and evening significantly increases Greatly, the form of blocking up shows as left turn traffic and blocks up, and keeps straight on and do not block up with left turn traffic in other import tracks.

Turn left and craspedodrome tidal congestion

When crossing tidal phenomena by do left-hand rotation with perform tide flow together decide on time, due to wagon flow peak period morning and evening Significantly increasing, blocking up shows as keeping straight on blocks up with left turn traffic, keeps straight on and do not block up with left turn traffic in other import tracks.

All there is the crossing tidal congestion form of tide flow phenomenon in road intersection

When all there is tide flow phenomenon in road intersection, bogie car under morning peak period difference tide flow composite type The form of blocking up of stream has a following four classes:

1) craspedodrome tide+craspedodrome tide；

2) craspedodrome tide+left-hand rotation tide；

3) left-hand rotation tide+craspedodrome tide；

4) left-hand rotation tide+left-hand rotation tide.

The cluster analysis of tide flow statistical time range

The fundamental characteristics of tide flow has: (period is special for direction unsymmetry (flux and flow direction characteristic) and periodically appearance Property).In analyzing crossing tide flow characteristic, need to carry out the division of statistical time range according to traffic flow and flow direction distribution, K-means clustering algorithm is used to judge whether traffic flow has cyclically-varying rule.

Clustering algorithm is typically used for two class data: data matrix and difference matrix.K-means clustering algorithm is based on difference Matrix carries out cluster analysis, when data are given with the form of data matrix, it should first data matrix is converted to difference Matrix.

1) data matrix is object--attribute structure, if set of data samples X, there are n object, p attribute, the sample of cluster Integrate the data matrix as n × p:

2) difference matrix is object structure, deposits all n objects difference each other, generally uses n × n Matrix represents:

In formula: d (i, j) difference between object i and object j.This numerical value closer to 0, represent object i and object j that This is the most similar；This numerical value, closer to 1, represents that object i and object j is the most dissimilar.

Set of data samples X is divided into k race, and each race is the set of corresponding data sample, similar sample in same family, phase Difference is originally in the most of the same clan.Race C1=(1,2 ..., k) in the quantity of sample be ni, Ci=(1,2 ..., k) be the subset of x, full Foot: C₁∪C₂∪…∪C_k=x and C_i∩C_j=φ, i ≠ j.

The barycenter of race is the average of sample, it is not necessary to be the actual point in race.The average of race's Ci sample is:

In formula: the average of mi race Ci sample；

The quantity of ni race Ci sample.

Difference degree between two objects determines by calculating the distance between object, and conventional distance computing formula is Euclidean distance:

$d(i,j)=\sqrt{\left(\right|x_{i1}-x_{j1}{|}^2+|x_{i2}-x_{j2}{|}^2+\mathrm{...}+|x_{ip}-x_{jp}{|}^2)};$

In formula, i=(xi1, xi2 ..., xip), j=(xj1, xj2 ..., xjp), represent a p dimension data object respectively.

K-means clustering algorithm is using mean square deviation as criterion function:

In formula: the mean square deviation sum of all objects in E--data set；

The quantity of k--race；

The data object that x--is given, multidimensional；

The meansigma methods of mi--race Ci, multidimensional.

This clustering criteria is intended to make k obtained race have the characteristics that；Each race itself is the compactest, between each race to the greatest extent May separate.

Data-oriented sample set X, according to similarity degree between data point, data acquisition system is divided into k race │ C1, C2 ..., Ck │'s Process is defined as cluster, and similar sample is in same family, and different sample is in the most of the same clan.

The core concept of K-means clustering algorithm is that n data object is divided into k race, makes the data in each cluster Point is minimum to the quadratic sum of this cluster centre.Number k that algorithm input is race and comprise the data set of n object；Algorithm exports For k race, the most as shown in Figure 11, its algorithm process process is as follows for the workflow of K-means clustering algorithm:

1) from n object, k object is arbitrarily chosen as initial cluster center；

2) calculate each object distance to each cluster centre respectively, object is assigned in closest cluster；

3), after all objects are assigned, the center of k cluster is recalculated；

4) calculation criterion function；

5) until criterion function no longer occurs significant change, the 2nd is otherwise repeated) to 4) step.

Crossing changeable driveway arranges primary condition:

Arranging of the variable guided vehicle road in crossing needs to consider certain objective condition, generally includes road conditions and traffic Condition.Under meeting certain road canalization, traffic behavior, could consider to arrange changeable driveway.Use for reference section changeable driveway Bar is set

Part, urban intersection changeable driveway arrange primary condition have following some:

Road conditions

The road conditions that crossing changeable driveway is arranged is:

1) crossing inlet is not suitable for enlarging or widens；

2) the track quantity of exit lane is no less than 2；

3) there is not median strip or streetcar track in the crossing inlet track arranging changeable driveway.

Transportation condition

The transportation condition that crossing changeable driveway is arranged is:

1) there is obvious tide flow phenomenon in the upstream and downstream section being connected with crossing；

2) crossing inlet track is a certain turns to wagon flow to there is tide flow phenomenon, and generation is blocked up；

3) heavy traffic circulation in crossing inlet track is to using changeable driveway, outlet car to after removing changeable driveway, Outlet car to the traffic capacity meet transport need；

4) the road terminal arranging changeable driveway has sufficient traffic disposal ability, will not form new traffic bottlenecks, and Facilitate vehicles while passing changeable driveway.

Face intersect prong tide flow block up the form of expression changeable driveway arrange

Crossing tide flow type is different, key flow is different, road intersection the most all exists tide flow etc., all can Affect the set-up mode of crossing changeable driveway.

The crossing changeable driveway that single road exists when tide flow blocks up is arranged

When single road exists tide flow jam, attach most importance to traffic flow imported car in morning peak period import track Road, craspedodrome tide flow, left-hand rotation tide flow, turns left and the main shape of variable guided vehicle road in craspedodrome tide flow three types Formula is:

1) craspedodrome tidal congestion；

2) left-hand rotation tidal congestion；

3) turn left and craspedodrome tidal congestion.

When road intersection all exists tide flow, the variable guided vehicle road in crossing arranges followed principle and single road When there is tide flow, crossing variable guided vehicle road setting principle is consistent.Owing to road intersection import track is the most likely arranged Changeable driveway, for meeting variable guided vehicle road setting principle, it is understood that there may be the phenomenon of path resource contention.

Changeable driveway when morning peak period road intersection all exists tide flow phenomenon is set to:

1) craspedodrome tide+craspedodrome tide；

2) craspedodrome tide+left-hand rotation tide/left-hand rotation tide+craspedodrome tide；

3) left-hand rotation tide+left-hand rotation tide.

Crossing is on the premise of arranging variable guided vehicle road, and readjusting signal time distributing conception is to alleviate intersection further The necessary means that salty traffic flow import track key flow blocks up.Set based on tide demand characteristics and variable guided vehicle road space Put scheme,

Analyze the control strategy of variable guided vehicle road and the method for designing of signal time distributing conception.

The variable guided vehicle road in crossing controls target and principle

1) target is controlled

The control target of the variable guided vehicle road in crossing is the collaborative optimization by track space attribute and signal timing dial, Limits ground is alleviated crossing heavy traffic and is flow to the tidal congestion problem of mouthful track key flow.

2) Controlling principle

The Controlling principle of the variable guided vehicle road in crossing is to affect other import track bogie cars not affecting or minimize On the premise of circulation row, it is ensured that heavy traffic flows to a mouthful track key flow and passes through crossing in time, eliminates or alleviates key Wagon flow saturation.

The variable guided vehicle road in crossing controls logic

1) mouthful track key flow and tide flow phenomenon are flow to by analysis crossing heavy traffic, it may be judged whether need reality Row changeable driveway, determines the method carrying out changeable driveway, after carrying out variable guided vehicle road, needs to redistribute flow-rate ratio, choosing Select suitable singnal configuration design method, obtain new timing scheme.

2) after primarily determining that signal time distributing conception, the control effect of crossing is evaluated.If it is salty to intersecting The jam situation of traffic flow import track key flow has clear improvement, and does not affect the logical of other import track bogie car streams OK, then explanation arranges variable guided vehicle road and can effectively solve crossing tidal congestion；If heavy traffic flows to a mouthful track key The jam situation of wagon flow has necessarily improves but still blocks up, then explanation arranges variable guided vehicle road alleviation crossing tidal congestion effect The most limited, need to take measures in terms of other from demand management etc. further.

Crossing changeable driveway singnal configuration design

The singnal configuration design of the variable guided vehicle road in crossing is divided into low saturation and two kinds of signals of high saturation to join Time design, after Main Basis arranges variable guided vehicle road, heavy traffic flows to that mouthful track key flow is the most saturated divides.

After low saturation refers to that crossing arranges variable guided vehicle road, heavy traffic flows to the saturated of mouthful track key flow Degree and congestion level are alleviated, and are defined as unsaturated state.After high saturation refers to that crossing arranges variable guided vehicle road, weight The degree of saturation of traffic flow import track key flow and congestion level are alleviated.

Singnal configuration design under the lowest saturation

Under low saturation, former saturated heavy traffic flows to mouthful track key flow and becomes after increasing variable guided vehicle road Unsaturated state, and former unsaturated light traffic flows to the unsaturated state not yet after reducing track quantity of mouthful track.The most right The signal control method answered can use phase equisaturation principle to carry out timing, and control target selection is unsaturated state.The most right The signal control method answered can use phase equisaturation principle to carry out timing, controls target selection crossing total delay minimum.

Singnal configuration design under the highest saturation

Under high saturation, although crossing is provided with changeable driveway, but no matter under which kind of signal time distributing conception, former height Saturated heavy traffic flows to a mouthful track key flow degree of saturation and cannot be greatly lowered.Signal control method now is:

1) signal period is determined according to the intersection signal cycle duration upper limit or flow-rate ratio；

2) for unsaturation phase place, choose that the higher limit of saturation is counter pushes away effective green time；

3) for saturated or oversaturated key flow, its green time is remaining effectively according to the distribution of equisaturation principle Green time.The saturation higher limit of unsaturation phase place not should be greater than 0.9；Saturated or oversaturated key flow, the most maximum energy Power distributes more green time, alleviates its saturation.

3., when a key flow (or a phase place) is in high saturation, coherent signal timing parameter determines method For:

$C=max\[\frac{1.5L+5}{1-Y},C_{max}\],(Y\≤0.9)$

A. signal period duration:

In formula: C signal period duration s；

L signal total losses time s；

Cmax intersection signal upper cycle limit s；

Y maximum stream flow compares sum.

B. the signal total losses time:

In formula: Ls starts s lost time；

A yellow time s；

I copper sulfate basic s；

Green light space-number in mono-cycle of k.

C. maximum stream flow is than sum:

In formula: the number of phases in mono-cycle of n；

I 1,2 ..., n；

The maximum stream flow ratio of yi the i-th phase place.

D. phase place maximum stream flow ratio:

In formula: the track group number under mi the i-th phase place；

Yi 1, yi2 ..., the flow-rate ratio of yimi the i-th phase place next track group.

E. the effective green time of unsaturation phase place:

In formula: the effective green time of gew unsaturation phase place；

W unsaturation phase place；

The maximum stream flow ratio of yw unsaturation phase place；

The saturation upper limit of xpw unsaturation phase place, no more than 0.9.

F. the effective green time of key flow: g_er=C-L-∑ g_ew；

In formula: the effective green time s of ger key flow place phase place；

R key flow.

If G. key flow comprises multiple split-phase position, the then effective green time of split-phase position:Formula In: the effective green time s of get split-phase position t；

The split-phase position comprised in t key flow；

The maximum stream flow ratio of yi split-phase position t；

The maximum stream flow ratio of yr key flow place phase place.

4., when two key flows (or two phase places) are in high saturation, signal timing dial parameter determination method is:

$C=max\[\frac{1.5L+5}{1-Y},C_{max}\],(Y\≤0.9)$

A. signal period duration:

B. the signal total losses time: $L=\underset{k}{\Σ}{(L_S+I-A)}_k;$

C. maximum stream flow is than sum:

D. phase place maximum stream flow ratio:

E. the effective green time of unsaturation phase place:

F. the effective green time of key flow:

$g_{er}=(C-L-\Σg_{ew})\frac{y_r}{y_r+y_u},g_{eu}=(C-L-\Σg_{ew})\frac{y_u}{y_r+y_u};$

In formula: r, u key flow；

The effective green time s of ger key flow r place phase place；

The effective green time s of geu key flow u place phase place；

The maximum stream flow ratio of yr key flow r place phase place；

The maximum stream flow ratio of yu key flow u place phase place.

If G. key flow comprises multiple split-phase position, the effective green time of split-phase position:

$g_{et}=g_{er}\frac{y_t}{y_r},g_{ez}=g_{eu}\frac{y_z}{y_u}.$

In formula: the split-phase position comprised in t key flow r；

The split-phase position comprised in z key flow u；

The effective green time s of get split-phase position t；

The effective green time s of gez split-phase position z；

The maximum stream flow ratio of yt split-phase position t；

The maximum stream flow ratio of yz split-phase position z.

Crossing changeable driveway setting procedure

When there is tide flow phenomenon in crossing, it is contemplated that variable guided vehicle road is set.The variable Guide vehicle in crossing The setting procedure in road is the most as shown in Figure 12.

The foregoing is only the preferred embodiment of the present invention, not thereby limit the scope of the claims of the present invention, every profit The efficient construction made by description of the invention and accompanying drawing content or effect flow process conversion, or directly or indirectly it is used in what other was correlated with Technical field, is the most in like manner included in the scope of patent protection of the present invention.

Claims (6)

1. based on holographic road network tide flow stream Lane use control method, it is characterised in that the method comprises the following steps:

Step one: carrying out crossing modeling by holographic road network feedback traffic flow real time status, the modeling of this crossing is to pass through road All kinds of video stream class, sensing class, data class Real-time and Dynamic feedback cross mouth Dynamic Traffic Flow truth in net, to pickup area Image joint, fusion, formed data characteristics；

The modeling of described crossing comprises the following steps:

1), intersection is understood from crossing geometry topological property, path space characteristic, traffic stream characteristics, traffic signalization characteristic The traffic characteristics of mouth, finds the variation characteristic of traffic flow in crossing；

2), analyze the risk factor of crossing tidal congestion, determine that crossing overflow, green light sky are put, are detained queuing for intersecting The impact of mouth traffic congestion, determines the process that hypersaturated state is formed；

3), determining the traffic parameter analyzed required for urban road intersection traffic circulation state, the various traffic of comparative analysis is transported The pluses and minuses of row information collecting method and the adaptability to hypersaturated state traffic signalization；

Step 2: analyze intersection entrance wagon flow and turn to equilibrium degree and variable guided vehicle road utilization rate, variable guided vehicle road is set Detector, described variable guided vehicle road detector acquisition track takies situation, occupation rate, data on flows, analyzes different bogie car Whether stream exists obvious unbalanced difference；Described variable guided vehicle road detector is additionally operable to record the traffic flow respectively turned to, weight The traffic flow ratio of newly determined each phase place, when configuring suitable phase combination, signal period, green light according to new flow-rate ratio Between；

Step 3: set up variable guided vehicle road crossing upstream vehicle and seamlessly transit pattern, crossing upstream detector is set, with Realize the automatic triggering of variable guided vehicle road turning function；

It is additionally provided with double stop line and pre-signal control, is set to red light by pre-signal, is intended to enter the car of variable guided vehicle road Treat after second row stop line；

Step 4: carry out coordinated signals tidal congestion crossing changeable driveway and guide, crossing changeable driveway signal is joined Time design, wherein, described crossing changeable driveway signal carried out timing design include singnal configuration design under low saturation With singnal configuration design under high saturation, whether flow to mouthful track key flow according to heavy traffic after arranging variable guided vehicle road Saturated divide.

The most according to claim 1 based on holographic road network tide flow stream Lane use control method, it is characterised in that step In rapid one, described video stream class at least includes that traffic surveillance videos class, illegal evidence obtaining video class, Car license recognition class, unmanned plane are adopted Collection road network video monitoring class；

Described sensing class at least includes that geomagnetism detecting class, Coil Detector class, microwave radar detection class, RFID detection class, bluetooth are adopted Storage class；

Described data class at least includes vehicle GPS terminal data, cell phone type OD path, mobile terminal data class.

The most according to claim 1 based on holographic road network tide flow stream Lane use control method, it is characterised in that step In rapid three, described crossing upstream detector includes first row detector and second row detector；

Described first row detector is responsible for detecting whether vehicle occurs secondary to queue up, for variable guided vehicle road Self Adaptive Control or The adjustment of signal timing dial strategy provides foundation；

Triggering of described second row detector retrains the trigger condition that variable guided vehicle road function occurs to change, and is variable guiding The selection triggering the moment of track Self Adaptive Control provides data support.

The most according to claim 1 based on holographic road network tide flow stream Lane use control method, it is characterised in that step In rapid four:

Under low saturation, former saturated heavy traffic flows to mouthful track key flow and becomes non-after increasing variable guided vehicle road Saturation, signal control method uses phase saturation principle to carry out timing, and control target selection is unsaturated state；Former non-full The light traffic of sum flows to the unsaturated state not yet after reducing track quantity of mouthful track, and signal control method uses phase saturation former Then carry out timing, control target selection crossing total delay minimum；

Under high saturation, signal control method is: determine signal according to the intersection signal cycle duration upper limit or flow-rate ratio Cycle；For unsaturation phase place, choose that the higher limit of saturation is counter pushes away effective green time；For saturated or oversaturated key Wagon flow, its green time distributes remaining effective green time, the saturation upper limit of unsaturation phase place according to phase saturation principle Value is not more than 0.9.

The most according to claim 1 based on holographic road network tide flow stream Lane use control method, it is characterised in that step In rapid three, variable guided vehicle road includes that variable guided vehicle road length is arranged, and this variable guided vehicle road Length Design Method is as follows:

For signalized crossing import track, broadening length L depends on Through Lane queue length (l1), left-hand rotation car Road queue length (l2) and right-turn lane queue length (l3)；

Its computing formula is: L=max (l₁,l₂,l₃)；

For Through Lane (l1), its broadening segment length is the interior vehicle arrived during should accommodating a cycle red light and amber light；

Vehicle queue length computing formula is:

In formula: C--intersection signal Cycle Length s；Nl--Through Lane quantity；Ql craspedodrome wagon flow flow, veh/h；Gs keeps straight on Effective green time s with right-hand rotation phase place；The queue length m of mono-vehicle of lm--, generally takes 7-8 rice；

For left turn lane (l2), determine that the broadening segment length important factor in order of left turn lane includes: DHV； The amount of cycles estimated for each hour, if Cycle Length increases, then broadening section also will increase；Signal phase and timing；

The maximum queue length (l2) of the signalized crossing left turn lane broadening arranging left-hand rotation dedicated phase is:

$l_2=\[\frac{l_n(1-p)}{l_n(Q_2,C)-l_n(S_L,g_L)}-1\]\frac{l_m}{N_2};$

In formula: Q2 peak hour left-turn volume；N2 left turn lane quantity；The actual saturated flow of mono-left turn lane of SL Rate veh/h；GL turns left to protect the effective green time s of phase place；P confidence probability, is typically carried out with 95%, 90% or 85% Calculate；

Based on left turn lane and the different qualities of double left turn lane, the ratio of double left turn lane can be entered with all left turning vehicles Determine critical probability:

$P_{rob}=\underset{k=0}{\overset{2l}{\mathrm{\Σ}}}\underset{j=0}{\overset{l-1}{\mathrm{\Σ}}}\frac{{\left(LT\right)}^k{e}^{-LT}}{k!}\×\frac{{\left(TH\right)}^j{e}^{-TH}}{j!}+\underset{k=0}{\overset{2l}{\mathrm{\Σ}}}\underset{j=l}{\overset{\mathrm{\∞}}{\mathrm{\Σ}}}\left\{\frac{{\left(LT\right)}^k{e}^{-LT}}{k!}\×\frac{{\left(TH\right)}^j{e}^{-TH}}{j!}\×\frac{\left(k+L-l\right)!\×j!\×k!}{\[k!\×\left(L-l\right)!\]\×\left(k+j\right)!}\right\};$

In formula: L represents the length of DLTL in units of vehicle number；

The average arrival rate of LT each red light phase place left turning vehicle；

The average arrival rate of TH each red light phase place through vehicles；

The broadening segment length of double left turn lane is determined further according to large car and the ratio of compact car and Vehicle length.

The most according to claim 1 based on holographic road network tide flow stream Lane use control method, it is characterised in that step In rapid four, carry out coordinated signals tidal congestion crossing changeable driveway and guide the intersection also including road intersection tide flow phenomenon Mouth tidal congestion processing method, this processing method is as follows:

By the cluster analysis of tide flow statistical time range, carry out the division of statistical time range according to traffic flow and flow direction distribution, Clustering algorithm is used to judge whether traffic flow has cyclically-varying rule；

Clustering algorithm includes data matrix and difference matrix, and clustering algorithm carries out cluster analysis based on difference matrix, works as number When the form of data matrix is given according to this, it should first data matrix is converted to difference matrix；

1) data matrix is object--attribute structure, if set of data samples X, there are n object, p attribute, and the sample set of cluster is The data matrix of n × p:

2) difference matrix is object structure, deposits all n objects difference each other, generally uses n × n matrix Represent:

In formula: d (i, j) difference between object i and object j；This numerical value, closer to 0, represents that object i and object j gets over each other Similar；This numerical value, closer to 1, represents that object i and object j is the most dissimilar；

Set of data samples X is divided into k race, and each race is the set of corresponding data sample, and similar sample is in same family, peculiar mutually This is in the most of the same clan；Race C1=(1,2 ..., k) in the quantity of sample be ni, Ci=(1,2 ..., k) be the subset of x, meet: C₁ ∪C₂∪…∪C_k=x and C_i∩C_j=φ, i ≠ j；

The barycenter of race is the average of sample, it is not necessary to be the actual point in race；The average of race's Ci sample is:

In formula: the average of mi race Ci sample；

The quantity of ni race Ci sample；

Difference degree between two objects determines by calculating the distance between object, and formula is:

$d(i,j)=\sqrt{\left(\right|x_{i1}-x_{j1}{|}^2+|x_{i2}-x_{j2}{|}^2+\mathrm{...}+|x_{ip}-x_{jp}{|}^2)};$

In formula, i=(xi1, xi2 ..., xip), j=(xj1, xj2 ..., xjp), represent a p dimension data object respectively；

K-means clustering algorithm is using mean square deviation as criterion function:

In formula: the mean square deviation sum of all objects in E--data set；

The quantity of k--race；

The data object that x--is given, multidimensional；

The meansigma methods of mi--race Ci, multidimensional；

This clustering criteria is intended to make k obtained race have the characteristics that；Each race itself is the compactest, between each race as far as possible Separately；

Data-oriented sample set X, is divided into k race │ C1, C2 according to similarity degree between data point by data acquisition system ..., the process of Ck │ Being defined as cluster, similar sample is in same family, and different sample is in the most of the same clan；

The core concept of clustering algorithm is that n data object is divided into k race, makes data point in each cluster in this cluster The quadratic sum of the heart is minimum；Number k that algorithm input is race and comprise the data set of n object；Algorithm is output as its algorithm of k race Processing procedure is as follows:

1) from n object, k object is arbitrarily chosen as initial cluster center；

2) calculate each object distance to each cluster centre respectively, object is assigned in closest cluster；

3), after all objects are assigned, the center of k cluster is recalculated；

4) calculation criterion function；

5) until criterion function no longer occurs significant change, the 2nd is otherwise repeated) to 4) step；

Crossing changeable driveway arranges primary condition:

Arranging of the variable guided vehicle road in crossing needs to consider certain objective condition, generally includes road conditions and traffic bar Part；Under meeting certain road canalization, traffic behavior, could consider to arrange changeable driveway；Use for reference setting of section changeable driveway Put condition, the primary condition that urban intersection changeable driveway is arranged have following some:

The road conditions that crossing changeable driveway is arranged is:

1) crossing inlet is not suitable for enlarging or widens；

2) the track quantity of exit lane is no less than 2；

3) there is not median strip or streetcar track in the crossing inlet track arranging changeable driveway；

The transportation condition that crossing changeable driveway is arranged is:

1) there is obvious tide flow phenomenon in the upstream and downstream section being connected with crossing；

2) crossing inlet track is a certain turns to wagon flow to there is tide flow phenomenon, and generation is blocked up；

3) heavy traffic circulation in crossing inlet track is to using changeable driveway, and outlet car, to after removing changeable driveway, exports Car to the traffic capacity meet transport need；

4) the road terminal arranging changeable driveway has sufficient traffic disposal ability, will not form new traffic bottlenecks, and convenient Vehicles while passing changeable driveway；

Face intersect prong tide flow block up the form of expression changeable driveway arrange:

Crossing tide flow type is different, key flow is different, road intersection the most all exists tide flow, all can affect friendship The set-up mode of prong changeable driveway；

The crossing changeable driveway that single road exists when tide flow blocks up is arranged:

When single road exists tide flow jam, attach most importance to traffic flow import track in morning peak period import track, directly Row tide flow, left-hand rotation tide flow, turn left and the principal mode of variable guided vehicle road in craspedodrome tide flow three types is:

1) craspedodrome tidal congestion；

2) left-hand rotation tidal congestion；

3) turn left and craspedodrome tidal congestion；

When road intersection all exists tide flow, the variable guided vehicle road in crossing arranges followed principle and exists with single road During tide flow, crossing variable guided vehicle road setting principle is consistent；Owing to road intersection import track the most likely arranges variable Track, for meeting variable guided vehicle road setting principle, it is understood that there may be the phenomenon of path resource contention；

Changeable driveway when morning peak period road intersection all exists tide flow phenomenon is set to:

1) craspedodrome tide+craspedodrome tide；

2) craspedodrome tide+left-hand rotation tide/left-hand rotation tide+craspedodrome tide；

3) left-hand rotation tide+left-hand rotation tide；

Crossing is on the premise of arranging variable guided vehicle road, and readjusting signal time distributing conception is that alleviation intersects salty further The necessary means that traffic flow import track key flow blocks up；Based on tide demand characteristics and the variable guided vehicle road space side of setting Case,

Analyze the control strategy of variable guided vehicle road and the method for designing of signal time distributing conception；

Singnal configuration design under high saturation:

Under high saturation, although crossing is provided with changeable driveway, but no matter under which kind of signal time distributing conception, former height is saturated Heavy traffic flow to a mouthful track key flow degree of saturation and cannot be greatly lowered；Signal control method now is:

1) signal period is determined according to the intersection signal cycle duration upper limit or flow-rate ratio；

2) for unsaturation phase place, choose that the higher limit of saturation is counter pushes away effective green time；

3) for saturated or oversaturated key flow, when its green time distributes remaining Effective Green Time according to saturation principle Between；The saturation higher limit of unsaturation phase place not should be greater than 0.9；Saturated or oversaturated key flow, do one's best distribution More green time, alleviates its saturation；

3., when a key flow (or a phase place) is in high saturation, coherent signal timing parameter determines that method is:

$C=max\[\frac{1.5L+5}{1-Y},C_{max}\],(Y\≤0.9)$

A. signal period duration:

In formula: C signal period duration s；

L signal total losses time s；

Cmax intersection signal upper cycle limit s；

Y maximum stream flow compares sum；

B. the signal total losses time:

In formula: Ls starts s lost time；

A yellow time s；

I copper sulfate basic s；

Green light space-number in mono-cycle of k；

C. maximum stream flow is than sum:

In formula: the number of phases in mono-cycle of n；

I 1,2 ..., n；

The maximum stream flow ratio of yi the i-th phase place；

D. phase place maximum stream flow ratio:

In formula: the track group number under mi the i-th phase place；

Yi1, yi2 ..., the flow-rate ratio of yimi the i-th phase place next track group；

E. the effective green time of unsaturation phase place:

In formula: the effective green time of gew unsaturation phase place；

W unsaturation phase place；

The maximum stream flow ratio of yw unsaturation phase place；

The saturation upper limit of xpw unsaturation phase place, no more than 0.9；

F. the effective green time of key flow: g_er=C-L-∑ g_ew；

In formula: the effective green time s of ger key flow place phase place；

R key flow；

If G. key flow comprises multiple split-phase position, the then effective green time of split-phase position:

In formula: the effective green time s of get split-phase position t；

The split-phase position comprised in t key flow；

The maximum stream flow ratio of yi split-phase position t；

The maximum stream flow ratio of yr key flow place phase place；

4., when two key flows (or two phase places) are in high saturation, signal timing dial parameter determination method is:

$C=max\[\frac{1.5L+5}{1-Y},C_{max}\],(Y\≤0.9)$

A. signal period duration:

B. the signal total losses time:

C. maximum stream flow is than sum:

D. phase place maximum stream flow ratio:

E. the effective green time of unsaturation phase place:

F. the effective green time of key flow:

$g_{er}=(C-L-{\mathrm{\Σg}}_{ew})\frac{y_r}{y_r+y_u},g_{eu}=(C-L-{\mathrm{\Σg}}_{ew})\frac{y_u}{y_r+y_u};$

In formula: r, u key flow；

The effective green time s of ger key flow r place phase place；

The effective green time s of geu key flow u place phase place；

The maximum stream flow ratio of yr key flow r place phase place；

The maximum stream flow ratio of yu key flow u place phase place；

If G. key flow comprises multiple split-phase position, the effective green time of split-phase position:

$g_{et}=g_{er}\frac{y_t}{y_r},g_{ez}=g_{eu}\frac{y_z}{y_u};$

In formula: the split-phase position comprised in t key flow r；

The split-phase position comprised in z key flow u；

The effective green time s of get split-phase position t；

The effective green time s of gez split-phase position z；

The maximum stream flow ratio of yt split-phase position t；

The maximum stream flow ratio of yz split-phase position z.