CN106548632A - A kind of adjacent upstream and downstream signalized intersections queue length method of estimation - Google Patents

Abstract

The present invention relates to a kind of adjacent upstream and downstream signalized intersections queue length method of estimation, it is characterised in that comprise the following steps：1) vehicle Flow Detection data and the position of fixed point detector are obtained, and is calculated within each signal period, the initial queue on Through Lane between adjacent upstream and downstream signalized intersections；2) four kinds of phase states according to adjacent upstream and downstream signalized intersections in signalized intersections signal timing dial each cycle of data acquisition；3) the initial queue length and phase state according to adjacent upstream and downstream signalized intersections, the queue length of the adjacent upstream and downstream signalized intersections in each signal period is calculated respectively, and maximum queue length and the correspondence moment of upstream and downstream signalized intersections are obtained respectively, compared with prior art, the present invention has the advantages that association measurement analysis, effectiveness height, the suitability are wide.

Description

A kind of adjacent upstream and downstream signalized intersections queue length method of estimation

Technical field

The present invention relates to traffic information field, estimates more particularly, to a kind of adjacent upstream and downstream signalized intersections queue length Method.

Background technology

Skeleton of the major urban arterial highway as transportation network, carries the sensible work(of long range rapid transit and commuting traffic Can, jam is but most frequent and serious.City letter control major trunk roads traffic congestion is not only reflected as the independence in section itself Attribute, and show influence each other between section, it is interrelated on, in the case where congestion is particularly queued up and is overflowed, section Between have obvious space-time characteristic.On the other hand, the detection technique and equipment of diversification, it is city such as to pinpoint coil, electricity police etc. The monitoring of major trunk roads traffic behavior and congestion warning provide data qualification.The coverage rate and transmission frequency of detector is to traffic shape The estimation of state has a significant impact, but the main traffic detection data source of current most of small and medium-sized cities is still single low frequency (1-min) detector is pinpointed, therefore research is intended to the testing conditions based on low precision and is relatively accurately estimated by traffic shock wave theory The queue length of signal-control crossing.

At present, the research estimated with regard to queue length both at home and abroad is mainly based upon accumulation traffic flow input/output model and friendship The method of logical ripple theoretical model.Accumulation input/output model is only applicable to situation of the queue length not less than detector location, and The model cannot obtain queue length and change over the Evolution in Spatial Dimension.Passed through based on the theoretical model of traffic shock wave The formation and dissipation of the calculating reduction vehicle queue of traffic shock wave velocity of wave, but the precision and coverage rate of the examined equipment of input of model Affect larger.In terms of data qualification, estimate mostly to employ high frequency based on the queue length of fixed point detection data in recent years Detection data (in units of s or ms), or using the detection technique of two kinds of coil, video, Floating Car etc. or more, utilize The method of multisource data fusion is to improve the accuracy of estimation, but such detection environment is not universal in reality.Therefore, build Be based on low frequency testing conditions queue length method of estimation for the queue up monitoring overflowed of signal-control crossing shows with important Sincere justice.

The content of the invention

The purpose of the present invention be exactly in order to overcome defect that above-mentioned prior art is present and provide a kind of association measurement analysis, Effectiveness is high, the adjacent upstream and downstream signalized intersections queue length method of estimation that the suitability is wide.

The purpose of the present invention can be achieved through the following technical solutions：

A kind of adjacent upstream and downstream signalized intersections queue length method of estimation, comprises the following steps：

1) vehicle Flow Detection data and the position of fixed point detector are obtained, and are calculated within each signal period, it is adjacent on The initial queue on Through Lane between downstream signal crossing；

2) four kinds according to adjacent upstream and downstream signalized intersections in signalized intersections signal timing dial each cycle of data acquisition Phase state, including first phase state：Upstream red light downstream red light, second phase state：Upstream green light downstream red light, the 3rd Phase state：Upstream green light downstream green light and the 4th phase state：Upstream red light downstream green light；

3) the initial queue length and phase state according to adjacent upstream and downstream signalized intersections, calculates each signal week respectively The queue length of the adjacent upstream and downstream signalized intersections in the phase, and the maximum queue length of stream signal crossing is obtained respectively L_j+1,m, downstream signal crossing maximum queue length L_j,m, stream signal crossing there is moment of maximum queue length t_j+1,mOccurs the moment t of maximum queue length with downstream signal crossing_j,m。

Described step 1) in, adjacent upstream and downstream signalized intersections initial queue length Q_initialFor：

Q_C=Σ q_ab*R_a+Σq_ab*g_a

Wherein, Q_CFor adjacent upstream and downstream signalized intersections, q_abIt is the second level stream of the turn-on interval within a signal period Amount, R_aFor the duration at red light interval in a signal period, g_aFor the duration at green light interval in a signal period, c is to be estimated The traffic capacity of one signal period of signalized intersections.

Described step 3) specifically include following steps：

31) the assembly ripple velocity of wave queued up in red light interval is obtained according to the second level flow of downstream signal crossing；

32) judge whether downstream signal crossing overflows according to occupation rate threshold value, if it is not, then adjacent upstream and downstream signal cross The queue length of mouth independently can be calculated, and carry out step 33), if so, then judge that the queue length of stream signal crossing is received To the impact of downstream signal crossing, and carry out step 34)；

33) obtain queuing assembly ripple and evanescent wave meets the moment, the moment corresponding queue length is maximum queue length；

34) the corresponding queuing of every kind of phase state is calculated according to the phase state of different adjacent upstream and downstream signalized intersections Length, and the maximum queue length obtained in a signal period that added up by sequential.

Described step 32) in, if current downstream road section exit ramp detector occupation rate is more than or equal to occupation rate threshold value O, Then judge that downstream signal crossing is overflowed, if current downstream road section exit ramp detector occupation rate is less than occupation rate threshold valueThen Judge that downstream signal crossing is not overflowed, occupation rate threshold valueCalculating formula be：

Wherein,To pinpoint the detection meansigma methodss of detector vehicle flowrate, L_vFor average effective vehicle commander, v_fFor free stream velocity.

Described step 33) in, the calculating formula of the maximum queue length of upstream and downstream signalized intersections is：

Q_initial*ω₄/S₀+ω₁*t_max

Wherein, ω₁To assemble ripple velocity of wave, t_maxAssemble ripple to queue up and evanescent wave meets the moment, seconds of the q for Through Lane Level flow, k_jFor jam density, v_fFor free stream velocity, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation volume rate.

Described step 34) in,

When phase state is in first phase state, then downstream signal crossing is in first phase state finish time Queue length is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, during the spilling that downstream signal intersection vehicles are queued up Carve t_sFor：

L_j,m=L_total

t_j,m=t₁+D₁

Wherein, t₁For the start time of first phase state, L_j,t1It is downstream intersection in first phase state start time Queue length；

Stream signal crossing is maximum in the queue length of first phase state finish time：

t_j+1,m=t₁+D₁

L_j+1,m=Q_initial*ω₄/S₀+L_j+1,t1+ω₁(t₂-t₁)

Wherein, D₁For the persistent period of first phase state, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation Flow rate, L_j+1,t1For stream signal crossing first phase state start time queue length, t₂Open for second phase state Begin the moment.

Described step 34) in,

When phase state is in second phase state, then row of the downstream signal crossing in the phase state finish time Team leader's degree is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, the spilling moment that downstream signal intersection vehicles are queued up t_sFor：

L_j,m=L_total

t_j,m=t₂+D₂

Wherein, t₂For the start time of second phase state, L_j,t2It is downstream intersection in second phase state start time Queue length, ω₁To assemble ripple velocity of wave；

When upstream crossing produces the maximum moment queued up when overflowing after the moment, then stream signal crossing is second The queue length of phase state finish time is maximum, then have：

L_j+1,m=Q_initial*ω₄/S₀+L_j+1,t2+ω₁*D₂

t_j+1,m=t₂+D₂

Wherein, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation volume rate, D₂For continuing for second phase state Time, L_j+1,t2For stream signal crossing second phase state start time queue length；

When upstream crossing produced the maximum moment queued up before the moment is overflowed, the maximum row of stream signal crossing Team leader's degree takes the maximum queuing L before overflowing_j+1,m" and the queue length L of second phase state finish time_j+1,m' higher value, Then have：

L_j+1,m"=Q_initial*ω₄/S₀+ω₁*t_j+1,m

L_j+1,m'=ω₄(t₃₄-t_s)+ω₁(t₂+D₂-t₃₄)

L_j+1,m=max { L_j+1,m″,L_j+1,m′}

Wherein, ω₂For evanescent wave velocity of wave, G_sBright moment, t are opened for green light₃₄To assemble ripple and sailing out of the moment that ripple meets, ω₃ To sail out of ripple velocity of wave, t_sFor the spilling moment that downstream signal intersection vehicles are queued up.

Described step 34) in,

When phase state is in third phase state, then downstream signal crossing is in third phase state finish time Queue length is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, during the spilling that downstream signal intersection vehicles are queued up Carve t_sFor：

L_j,m=L_total

t_j,m=t₃+D₃

Wherein, t₃For the start time of third phase state, L_j,t3It is downstream intersection in third phase state start time Queue length, D₃For the persistent period of third phase state, ω₁To assemble ripple velocity of wave；

The maximum queuing time t of upstream crossing_j+1,mWith length L_j+1,mRespectively：

L_j+1,m=ω₂(t_j+1,m-t₃)-L_total

Wherein, L_j+1,t3For upstream crossing third phase state start time queue length, t₃₄Hand over for stream signal Prong assemble ripple and stream signal crossing sail out of the moment that ripple meets, S₀For saturation volume rate, ω₂For evanescent wave velocity of wave.

If queuing spilling situation is not solved at the end of third phase state, there is secondary queuing in stream signal crossing, Then the maximum queue length of upstream crossing is：

L_j+1,m=ω₂D₄+Q_initial*ω₄/S₀+L_j+1,se

L_j+1,se=ω₄*Q_j+1,se/S₀

Q_max=Q_j,t+Q_j+1,t+q₁*(t_j+1,m-t₃)

Wherein, L_j+1,seFor the secondary queue length of stream signal crossing, ω₂For evanescent wave velocity of wave, ω₃To sail out of ripple ripple Speed, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation volume rate, D₄For the persistent period of the 4th phase state, Q_j+1,se The secondary queuing vehicle number for being stream signal crossing at the end of green light, Q_maxIt is the maximum started counting up from downstream stop line Queuing vehicle number, Q_j+1,t、Q_j,tRespectively queuing vehicle number of the upstream and downstream signalized intersections in third phase state start time, t₄For the start time of the 4th phase state, q₁For the second level data on flows that stream signal intersection exit road detector is obtained.

Described step 34) in,

When phase state is in four phase states, if queuing up at the end of a upper phase state still overflow, under Trip signalized intersections vehicle queue in four phase states starts to reduce from crossing spacing, the maximum of downstream signal crossing Spacing of the queue length for upstream and downstream signalized intersections, if at the end of the green light of downstream signal crossing failing to dissipate completely, Remaining vehicle becomes secondary queuing, and stream signal crossing forms secondary queuing by the vehicle that a upper phase state does not dissipate, and Queue up in the 4th phase state and upstream accumulate, maximum is reached in the 4th phase state finish time queue length, then had：

L_j+1,m=ω₂D₄+Q_initial*ω₄/S₀+L_j+1,se

L_j,m=L_total

L_j,se=ω₄*Q_j,se/S₀

Wherein, L_totalFor the spacing of adjacent upstream and downstream signalized intersections, Q_j,seTerminate in green light for downstream signal crossing When secondary queuing vehicle number, Q_j,tFor S₀For saturation volume rate, ω₂For evanescent wave velocity of wave, ω₃To sail out of ripple velocity of wave, t₃For the 3rd Phase state start time, D₄For the persistent period of the 4th phase state, L_j,seSecondary queuing for stream signal crossing is long Degree.

Compared with prior art, the present invention has advantages below：

First, association measurement analysis：The present invention is different from the situation that existing queuing method of estimation only considers single crossing, will Two neighboring crossing is used as holistic approach object, it is contemplated that the impact queued up to upstream crossing is overflowed in section, to crossing Between traffic relatedness carried out quantitative analysiss.

2nd, effectiveness is high：Recognition methodss and data correcting method when the present invention proposes queuing overflow detector, it is ensured that Detector is queued up in the case of occupied and to estimate the effectiveness of model.

3rd, the suitability is wide：The present invention uses the low frequency fixed point testing equipment that data transmission frequencies are 1min, to current Vehicle Detection the well adapting to property of environment of the most of small and medium-sized cities of China, universality are stronger.And under low frequency condition still Higher estimated accuracy can be so obtained, the reliability of the adjustment model is preferable.

Description of the drawings

Fig. 1 is double sections detection environment schematic in the present invention.

Fig. 2 is the emulation road network figure that adopts in the embodiment of the present invention.

Fig. 3 is the phase state schematic diagram that Adjacent Intersections are present.

Fig. 4 is traffic oscillogram of the first phase state in the case of spilling.

Fig. 5 is traffic oscillogram of the second phase state in the case of spilling.

Fig. 6 is traffic oscillogram of the third phase state in the case of spilling.

Fig. 7 is traffic oscillogram of the 4th phase state in the case of spilling.

Specific embodiment

The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.

Embodiment：

By adopting double sections low frequency detection method, (data transmission frequencies pinpoint testing equipment for the low frequency of 1min to the present invention Detected) queue length of the adjacent upstream and downstream crossing within each signal period is obtained, comprise the following steps：

1) vehicle Flow Detection data and the position of fixed point detector are obtained, and are calculated within each signal period, it is adjacent on The initial queue on Through Lane between downstream signal crossing, adjacent upstream and downstream signalized intersections initial queue length Q_initialFor：

Q_C=Σ q_ab*R_a+Σq_ab*g_a

Wherein, Q_CFor total vehicle number that signalized intersections were reached within a signal period, q_abIt is a signal period The second level flow of interior turn-on interval, R_aFor the duration at red light interval in a signal period, g_aFor green light in a signal period The duration at interval, c are the traffic capacity of one signal period of signalized intersections to be estimated；

2) four kinds according to adjacent upstream and downstream signalized intersections in signalized intersections signal timing dial each cycle of data acquisition Phase state, including first phase state：Upstream red light downstream red light, second phase state：Upstream green light downstream red light, the 3rd Phase state：Upstream green light downstream green light and the 4th phase state：Upstream red light downstream green light, as shown in Figure 3；

3) the initial queue length and phase state according to adjacent upstream and downstream signalized intersections, calculates each signal week respectively The queue length of the adjacent upstream and downstream signalized intersections in the phase, and obtain its maximum queue length and maximum queue length occur Moment；

Comprise the following steps：

31) the assembly ripple velocity of wave queued up in red light interval is obtained according to the second level flow of upstream and downstream signalized intersections, works as row When team exceedes entrance driveway detector, then it is used to calculate using the flow of exit ramp detector and queues up, examine beyond exit ramp when queuing up Then think when surveying device that section queuing occurs overflows, the necessity of double sections detector is：Each track stream of entrance driveway detector Amount data can be used to calculate turning rate, and each track flow of exit ramp is correspondingly modified, and exclude vehicle lane change behavior Affect；

32) judge whether downstream signal crossing overflows according to occupation rate threshold value, occupation rate threshold valueCalculating formula be：

Wherein,To pinpoint the detection meansigma methodss of detector vehicle flowrate, L_vFor average effective vehicle commander, v_fFor free stream velocity； If it is not, then the queue length of adjacent upstream and downstream signalized intersections independently can be calculated, and carry out step 33), if so, then in judgement The queue length of trip signalized intersections is overflowed by downstream signal crossing and is affected, and carries out step 34)；

33) obtain queuing assembly ripple and evanescent wave meet the moment, the moment corresponding queue length is maximum queue length, Upstream and downstream maximum queue length L_maxCalculating formula be：

L_max=Q_initial*ω₄/S₀+ω₁*t_max

Wherein, ω₁To assemble ripple velocity of wave, t_maxAssemble ripple to queue up and evanescent wave meets the moment, seconds of the q for Through Lane Level flow, k_jFor jam density.

34) the corresponding queuing of every kind of phase state is calculated according to the phase state of different adjacent upstream and downstream signalized intersections Length, and added up by sequential and obtain the maximum queue length of Adjacent Intersections in a signal period；

As shown in figure 4, when phase state is in first phase state, then downstream signal crossing is in first phase state The queue length of finish time is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, downstream signal intersection vehicles row The spilling moment t of team_sFor：

L_j,m=L_total

Wherein, t₁For the start time of first phase state, L_j,tWhen starting for first phase, the queuing of downstream intersection is long Degree；L_j,mFor the queue length that downstream intersection is maximum.

In red light phase place, not queued up to overflow by downstream intersection is affected, therefore upstream intersects for upstream intersection Mouth is queued up and accumulation can arrive first phase state finish time always, queuing of the upstream crossing in first phase state finish time Length is maximum：

t_j+1,m=t₁+D₁

L_j+1,m=Q_initial*ω₄/S₀+L_j+1,t+ω₁(t₂-t₁)

Wherein D_i(i=1,2,3,4) represent the persistent period of i-th phase state, ω₄To assemble ripple velocity of wave, with ω₁Number Value is equal.

As shown in figure 5, when phase state is in second phase state, then downstream signal crossing is tied in the phase state The queue length at beam moment is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, the queuing of downstream signal intersection vehicles Spilling moment t_sFor：

L_j,m=L_total

Upstream crossing overflows into " passive red light " phase place due to the queuing in downstream, and first upstream crossing is not being received The maximum moment t for queuing up is produced in the case of downstream influences_j+1,mCalculated, if t_j+1,mOverflowing moment t_sAfterwards, upstream Crossing is queued in t_sCan start afterwards to increase, it is maximum in the queue length of second phase state finish time：

L_j+1,m=Q_initial*ω₄/S₀+L_j+1,t+ω₁*D₂

t_j+1,m=t₂+D₂

If t_j+1,mOverflowing moment t_sBefore, i.e., upstream crossing just generated maximum queuing before the spilling of downstream, Then ripple is assembled in queue clearance to downstream and the moment t that ripple meets is sailed out of in upstream₃₄Can start afterwards to increase, the maximum of upstream crossing Queue length takes the maximum higher value queued up with the queue length of second phase state finish time before overflowing：

L_j+1,m=Q_initial*ω₄/S₀+ω₁*t_j+1,m

L_j+1,m'=ω₄(t₃₄-t_s)+ω₁(t₂+D₂-t₃₄)

L_j+1,m=max { L_j+1,m,L_j+1,m'}

Wherein, G_sGreen light for each signal period opens bright moment, ω₃To sail out of ripple velocity of wave.

As shown in fig. 6, when phase state is in third phase state, then downstream signal crossing is tied in the phase state The queue length at beam moment is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, the queuing of downstream signal intersection vehicles Spilling moment t_sFor：

L_j,m=L_total

Overflow upstream and downstream crossing after occurring and may be regarded as a section, in downstream intersection evanescent wave and upstream crossing collection The moment t that knot ripple meets_j+1,mProduce the maximum queue length of upstream crossing：

L_j+1,m=ω₂(t_j+1,m-t₃)-L_total

If queuing spilling situation is not also solved at the end of the phase state, upstream crossing occurs remaining queuing, The then secondary queue length of upstream crossing is calculated as follows：

Q_max=Q_j,t+Q_j+1,t+q₁*(t_j+1,m-t₃)

L_j+1,se=ω₄*Q_j+1,se/S₀

Wherein, Q_maxIt is the maximum queuing vehicle number started counting up from downstream stop line, Q_j+1,t、Q_j,tRespectively upstream and downstream is handed over Queuing vehicle number of the prong in the phase state start time, Q_j+1,seThe secondary queuing for being upstream crossing at the end of green light Vehicle number, L_j+1,seThe secondary queue length for being upstream crossing at the end of green light.

As shown in fig. 7, when phase state is in four phase states, the vehicle queue of downstream intersection is between crossing Away from starting to reduce, if failing to dissipate at the end of the green light of downstream completely, remaining queue length is calculated：

L_j,m=L_total

L_j,se=ω₄*Q_j,se/S₀

The vehicle that upstream crossing is not dissipated can form secondary queuing, and the initial queue for adding the cycle is ranked length It is cumulative, at the end of the phase state, queue length is maximum：

L_j+1,se=ω₄*Q_j+1,t/S₀

L_j+1,m=ω₂D₄+Q_initial*ω₄/S₀+L_j+1,se；

4) phantom that letter is drained is set up with VISSIM, precision test is carried out to queue length method of estimation.

The present invention sets up the phantom that letter is drained with VISSIM, carries out precision to queue length method of estimation and tests Card, Fig. 2 is the emulation section at Qingdao City Foochow South Road, and research section includes trunk roads, secondary distributor road, cross junction and T-shaped The road conditions such as crossing.

Modeling builds section model according to road geometry data and timing data first in VISSIM, and employing is actually obtained The detector data on flows for taking demarcates the traffic composition of section model, non-intersection speed distribution and Intersections timing scheme etc. Parameter, to ensure that the traffic behavior for emulating road network is coincide with virtual condition as much as possible.Wherein, pinpoint detector data to adopt The data of 7 thirty of morning peak to 8 thirty on November 23rd, 2015, the position of detector are as shown in Figure 1.Finally, run VISSIM Emulation road network, by the section flow for contrasting the flow for verifying each entrance driveway in crossing and fixed point detector data collection meter, really The concordance of emulation road network flow and actual road network flow is protected.

According to the time varying characteristic of actual traffic stream, basic, normal, high and segmentation four kinds of vehicles of change are provided with phantom Input type, respectively 600veh/lane/h, 1000veh/lane/h, 1200veh/lane/h and 600-1200-1200- For each vehicle input type, choose 35,40,42 3 random seeds carries out emulation testing to 600veh/lane/h., and totally 12 Group experimental group.Every time simulation time is 4200s, the simulation calculation time of preheating time and 3600s including 600s.Evaluate As a result the numerical value that 3600s calculates the time and obtains only is taken, the mean absolute difference (MAE) and average percent difference of maximum queue length is calculated (MAPE), as a result as shown in table 1.

N is number of detection cycles,For measured value, Y is value of calculation.

1 queue length estimation error statisticses table of table

From simulation results, in embodiment, the mean absolute difference of queue length is 13.58m, about two cars Length, mean percent difference are 10.97%, therefore the mean accuracy of the queue length method of estimation is more than 89%.

Claims (10)

1. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation, it is characterised in that comprise the following steps：

1) vehicle Flow Detection data and the position of fixed point detector are obtained, and is calculated within each signal period, adjacent upstream and downstream The initial queue on Through Lane between signalized intersections；

2) four kinds of phase places according to adjacent upstream and downstream signalized intersections in signalized intersections signal timing dial each cycle of data acquisition State, including first phase state：Upstream red light downstream red light, second phase state：Upstream green light downstream red light, third phase State：Upstream green light downstream green light and the 4th phase state：Upstream red light downstream green light；

3) the initial queue length and phase state according to adjacent upstream and downstream signalized intersections, is calculated in each signal period respectively Adjacent upstream and downstream signalized intersections queue length, and obtain the maximum queue length L of stream signal crossing respectively_j+1,m、 The maximum queue length L of downstream signal crossing_j,m, stream signal crossing there is the moment t of maximum queue length_j+1,mWith under There is the moment t of maximum queue length in trip signalized intersections_j,m。

2. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 1, it is characterised in that Described step 1) in, adjacent upstream and downstream signalized intersections initial queue length Q_initialFor：

$Q_{initial}=\left\{\begin{array}{cc}{Q}_c-c,& Q_c>c\\ 0,& Q_c\≤c\end{array}\right.$

Q_C=∑ q_ab*R_a+∑q_ab*g_a

Wherein, Q_CFor adjacent upstream and downstream signalized intersections, q_abIt is the second level flow of the turn-on interval within a signal period, R_a For the duration at red light interval in a signal period, g_aFor the duration at green light interval in a signal period, c is signal to be estimated The traffic capacity of one signal period of crossing.

3. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 2, it is characterised in that Described step 3) specifically include following steps：

31) the assembly ripple velocity of wave queued up in red light interval is obtained according to the second level flow of downstream signal crossing；

32) judge whether downstream signal crossing overflows according to occupation rate threshold value, if it is not, then adjacent upstream and downstream signalized intersections Queue length independently can be calculated, and carry out step 33), if so, then judge that the queue length of stream signal crossing is subject to down The impact of trip signalized intersections, and carry out step 34)；

33) obtain queuing assembly ripple and evanescent wave meets the moment, the moment corresponding queue length is maximum queue length；

34) the corresponding length of queuing up of every kind of phase state is calculated according to the phase state of different adjacent upstream and downstream signalized intersections Degree, and the maximum queue length obtained in a signal period that added up by sequential.

4. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 3, it is characterised in that Described step 32) in, if current downstream road section exit ramp detector occupation rate is more than or equal to occupation rate threshold valueUnder then judging Trip signalized intersections overflow, if current downstream road section exit ramp detector occupation rate is less than occupation rate threshold valueThen judge downstream Signalized intersections do not overflow, occupation rate threshold valueCalculating formula be：

$\stackrel{\‾}{O}=\frac{L_v*\stackrel{\‾}{q}}{v_f}$

Wherein,To pinpoint the detection meansigma methodss of detector vehicle flowrate, L_vFor average effective vehicle commander, v_fFor free stream velocity.

5. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 3, it is characterised in that Described step 33) in, the calculating formula of the maximum queue length of upstream and downstream signalized intersections is：

Q_initial*ω₄/S₀+ω₁*t_max

${\mathrm{\ω}}_1=\frac{q-0}{k_j-q/v_f}$

Wherein, ω₁To assemble ripple velocity of wave, t_maxAssemble ripple to queue up and evanescent wave meets the moment, second level streams of the q for Through Lane Amount, k_jFor jam density, v_fFor free stream velocity, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation volume rate.

6. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 3, it is characterised in that Described step 34) in,

When phase state is in first phase state, then queuing of the downstream signal crossing in first phase state finish time Length is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, the spilling moment t that downstream signal intersection vehicles are queued up_s For：

$t_s=t_1+\frac{L_{total}-L_{j,t1}}{{\mathrm{\ω}}_1}$

L_j,m=L_total

t_j,m=t₁+D₁

Wherein, t₁For the start time of first phase state, L_j,t1For downstream intersection first phase state start time row Team leader's degree；

Stream signal crossing is maximum in the queue length of first phase state finish time：

t_j+1,m=t₁+D₁

L_j+1,m=Q_initial*ω₄/S₀+L_j+1,t1+ω₁(t₂-t₁)

Wherein, D₁For the persistent period of first phase state, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturated flow Rate, L_j+1,t1For stream signal crossing first phase state start time queue length, t₂Start for second phase state Moment.

7. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 3, it is characterised in that Described step 34) in,

When phase state is in second phase state, then downstream signal crossing is long in the queuing of the phase state finish time Degree is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, the spilling moment t that downstream signal intersection vehicles are queued up_sFor：

$t_s=t_2+\frac{L_{total}-L_{j,t2}}{{\mathrm{\ω}}_1}$

L_j,m=L_total

t_j,m=t₂+D₂

Wherein, t₂For the start time of second phase state, L_j,t2For downstream intersection second phase state start time row Team leader's degree, ω₁To assemble ripple velocity of wave；

When upstream crossing produces the maximum moment queued up when overflowing after the moment, then stream signal crossing is in second phase The queue length of state finish time is maximum, then have：

L_j+1,m=Q_initial*ω₄/S₀+L_j+1,t2+ω₁*D₂

t_j+1,m=t₂+D₂

Wherein, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation volume rate, D₂For second phase state it is lasting when Between, L_j+1,t2For stream signal crossing second phase state start time queue length；

When upstream crossing produced the maximum moment queued up before the moment is overflowed, the maximum length of queue of stream signal crossing Degree takes the maximum queuing L before overflowing_j+1,m" and the queue length L of second phase state finish time_j+1,m' higher value, then have：

$t_{j+1,m}=\frac{L_{j+1,t}+{\mathrm{\ω}}_2{G}_s-{\mathrm{\ω}}_1{t}_2}{{\mathrm{\ω}}_2-{\mathrm{\ω}}_1}$

L_j+1,m"=Q_initial*ω₄/S₀+ω₁*t_j+1,m

$t_{34}=\frac{L_{j+1,m}+{\mathrm{\ω}}_4{t}_s+{\mathrm{\ω}}_3{t}_{j+1,m}}{{\mathrm{\ω}}_3+{\mathrm{\ω}}_4}$

L_j+1,m'=ω₄(t₃₄-t_s)+ω₁(t₂+D₂-t₃₄)

L_j+1,m=max { L_j+1,m″,L_j+1,m′}

Wherein, ω₂For evanescent wave velocity of wave, G_sBright moment, t are opened for green light₃₄To assemble ripple and sailing out of the moment that ripple meets, ω₃To sail From ripple velocity of wave, t_sFor the spilling moment that downstream signal intersection vehicles are queued up.

8. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 3, it is characterised in that Described step 34) in,

When phase state is in third phase state, then queuing of the downstream signal crossing in third phase state finish time Length is maximum, is spacing L of adjacent upstream and downstream signalized intersections_total, the spilling moment t that downstream signal intersection vehicles are queued up_s For：

$t_s=t_3+\frac{L_{total}-L_{j,t3}}{{\mathrm{\ω}}_1}$

L_j,m=L_total

t_j,m=t₃+D₃

Wherein, t₃For the start time of third phase state, L_j,t3For downstream intersection third phase state start time row Team leader's degree, D₃For the persistent period of third phase state, ω₁To assemble ripple velocity of wave；

The maximum queuing time t of upstream crossing_j+1,mWith length L_j+1,mRespectively：

$t_{j+1,m}=\frac{L_{total}+L_{j+1,t3}+{\mathrm{\ω}}_2*t_3-{\mathrm{\ω}}_1*t_{34}}{{\mathrm{\ω}}_2-{\mathrm{\ω}}_1}$

L_j+1,m=ω₂(t_j+1,m-t₃)-L_total

Wherein, L_j+1,t3For upstream crossing third phase state start time queue length, t₃₄For stream signal crossing Assemble ripple and stream signal crossing sail out of the moment that ripple meets, S₀For saturation volume rate, ω₂For evanescent wave velocity of wave.

9. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 8, it is characterised in that If queuing spilling situation is not solved at the end of third phase state, there is secondary queuing in stream signal crossing, then upstream is handed over The maximum queue length of prong is：

L_j+1,m=ω₂D₄+Q_initial*ω₄/S₀+L_j+1,se

L_j+1,se=ω₄*Q_j+1,se/S₀

$Q_{j+1,se}=Q_{max}-S_0*\frac{L_{total}+{\mathrm{\ω}}_2*t_3+{\mathrm{\ω}}_3*t_4}{{\mathrm{\ω}}_2+{\mathrm{\ω}}_3}$

Q_max=Q_j,t+Q_j+1,t+q₁*(t_j+1,m-t₃)

Wherein, L_j+1,seFor the secondary queue length of stream signal crossing, ω₂For evanescent wave velocity of wave, ω₃To sail out of ripple velocity of wave, ω₄For the assembly ripple velocity of wave for secondary queuing occur, S₀For saturation volume rate, D₄For the persistent period of the 4th phase state, Q_j+1,seFor Secondary queuing vehicle number of the stream signal crossing at the end of green light, Q_maxIt is the maximum row started counting up from downstream stop line Team's vehicle number, Q_j+1,t、Q_j,tRespectively queuing vehicle number of the upstream and downstream signalized intersections in third phase state start time, t₄ For the start time of the 4th phase state, q₁For the second level data on flows that stream signal intersection exit road detector is obtained.

10. a kind of adjacent upstream and downstream signalized intersections queue length method of estimation according to claim 3, its feature exist In described step 34) in,

When phase state is in four phase states, if queuing up at the end of a upper phase state still overflow, downstream letter Number crossing vehicle queue in four phase states starts to reduce from crossing spacing, the maximum queuing of downstream signal crossing Spacing of the length for upstream and downstream signalized intersections, it is if at the end of the green light of downstream signal crossing failing to dissipate completely, remaining Vehicle becomes secondary queuing, and stream signal crossing forms secondary queuing by the vehicle that a upper phase state does not dissipate, and Four phase states are queued up and are upstream accumulated, and reach maximum in the 4th phase state finish time queue length, then have：

L_j+1,m=ω₂D₄+Q_initial*ω₄/S₀+L_j+1,se

L_j,m=L_total

$Q_{j,se}=Q_{j,t}-S_0*\frac{{\mathrm{\ω}}_2*t_3+{\mathrm{\ω}}_3*D_4}{{\mathrm{\ω}}_2}$

L_j,se=ω₄*Q_j,se/S₀

Wherein, L_totalFor the spacing of adjacent upstream and downstream signalized intersections, Q_j,seIt is downstream signal crossing at the end of green light Secondary queuing vehicle number, Q_j,tFor S₀For saturation volume rate, ω₂For evanescent wave velocity of wave, ω₃To sail out of ripple velocity of wave, t₃For third phase State start time, D₄For the persistent period of the 4th phase state, L_j,seFor the secondary queue length of stream signal crossing.