CN106683449A - Dynamic green-light interval time adjustment method of traffic control system under vehicular access cooperation environment - Google Patents
Dynamic green-light interval time adjustment method of traffic control system under vehicular access cooperation environment Download PDFInfo
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- CN106683449A CN106683449A CN201710079219.9A CN201710079219A CN106683449A CN 106683449 A CN106683449 A CN 106683449A CN 201710079219 A CN201710079219 A CN 201710079219A CN 106683449 A CN106683449 A CN 106683449A
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention provides a dynamic green-light interval time adjustment method of a traffic control system under vehicular access cooperation environment. The dynamic green-light interval time adjustment method includes: acquiring vehicle running status information in a detection area in real time; yellow-light time analysis, namely analyzing and optimizing following yellow-light time according to the vehicle running status information in the detection area when current-phase remaining green-light time is less than 1 hour, wherein after completion of the green-light time, current phase enters yellow-light time; all-red time analysis, namely when the current-phase remaining yellow-light time is less than 1 hour, analyzing and optimizing following all-red time according to the vehicle running status information in the detection area, wherein after completion of the yellow-light time, the current phase enters red-light time. With the method, real-time position and speed information of each vehicle can be acquired under the vehicular access cooperation environment, green-light interval time is dynamically optimized, stop delay of vehicles is reduced in case of security, road traffic efficiency is improved, and environment pollution is reduced.
Description
Technical field
The invention belongs to intelligent traffic safety control field, and in particular to traffic control system under a kind of bus or train route cooperative surroundings
Copper sulfate basic dynamic adjusting method.
Background technology
For the motor vehicles of one phase place of signalized crossing, the change of signal light color follow green light-amber light-
The order of red light-green light alternates successively, cycle operation.Copper sulfate basic refers to conflicting two bursts of traffic flows from losing
Between upper one traffic flow green light finish time to the green light start time of lower one traffic flow for obtaining right-of-way of right-of-way
Time interval, the effect for arranging copper sulfate basic is to avoid next phase place green light head car and upper phase place end by crossing
Trailer bump against at traffic conflict point in the range of crossing.Its yellow time and complete red time sum by two adjacent phasetophases
Composition, i.e.,
T=A+AR
T is copper sulfate basic in formula, and A is yellow time, and AR is complete red time.Traditional copper sulfate basic is amber light
Time and the summation of complete red time, in order to ensure traffic safety, according to fixed vehicle flowrate determination are calculated, when having certain
Between waste, traffic efficiency is reduced to a certain extent.
For the problems referred to above, domestic and international research worker proposes the traffic control system under bus or train route cooperative surroundings to carry out letter
Known in number, in terms of improving intersection efficiency, reducing intersection traffic accidents certain effect is achieved, but there is also one
It is a little not enough.Although existing method strengthens the contact between driver and traffic signaling equipment, but have ignored the friendship that may occur
Logical conflict is to traffic safety and the impact of traffic efficiency.
The content of the invention
The technical problem to be solved in the present invention is：When traffic control system green light interval under a kind of bus or train route cooperative surroundings is provided
Between dynamic adjusting method, make vehicle reduce stop delay, to improve the traffic efficiency of road and reduce environmental pollution.
The present invention is for the solution technical scheme taken of above-mentioned technical problem：Traffic control under a kind of bus or train route cooperative surroundings
System copper sulfate basic dynamic adjusting method, it is characterised in that：It is comprised the following steps：
Travel condition of vehicle information in S1, in real time acquisition detection zone；Wherein detection zone is included from positioned at import track
Detection start-finish line start to by the region at crossing；
S2, yellow time analysis：When current phase place residue green time is less than 1s, run according to the vehicle in detection zone
Status information, is analyzed and optimizes to ensuing yellow time；After green time terminates, when current phase place enters amber light
Between；
S3, complete red time analysis：When current phase place residue yellow time is less than 1s, run according to the vehicle in detection zone
Status information, is analyzed and optimizes to ensuing complete red time；After yellow time terminates, when current phase place enters red light
Between；Complete red time refers to that current phase place amber light terminates the time interval started to next phase place green light；
S4, red time terminate, into green time；
S5, current phase place terminate, next phase loop S1 to S4；
The concrete grammar for being analyzed to yellow time in the S2 and optimizing is：
2.1st, judge to be whether there is in detection zone vehicle has the vehicle can neither be in stop line within system default yellow time
Under interior safe stopping, stop line can not be passed through before amber light terminates, if not having, when amber light is set by system default yellow time
Between；
2.2nd, when there is the vehicle can neither be under safe stopping in stop line within system default yellow time, can not be in amber light
When before terminating by stop line, these vehicles are called vehicle of facing a difficult choice, and to facing a difficult choice, vehicle calculates as follows required yellow time：
Yellow time of the A for needed for vehicle, unit s；t0In response time for needed for driver sees amber light, be default
Value, unit s；V is the real-time speed of vehicle, collects, unit m/s；A is the real time acceleration of vehicle, collects, unit
m/s2；G is the gradient, is preset constant；
Calculating yellow time needed for all awkward vehicles carries out rounding up and obtains confinement time, then chooses less than default
Maximum yellow time AmaxThe maximum constrained time, as the yellow time after optimization；
The concrete grammar for being analyzed to complete red time in the S3 and optimizing is：
If current phase place route or travel by vehicle is conflict point with the intersection point of next phase place green light route or travel by vehicle；If current
Last is carved with a vehicle by stop line before phase place amber light extinguishes, if the vehicle is current conflict vehicle；
Calculate current conflict vehicle respectively to travel to the time t of conflict pointa, and next phase place green light first car traveling
To the time t of conflict pointb, unit is s；So complete red time is ta-tbAfter round up.
As stated above, described 2.1 specifically judge by the following method：When all vehicles in the detection zone it is full
When foot states inequality, is set by system default yellow time yellow time；
SnFor the distance of vehicle distances stop line, unit m；LnIt is preset value for length of wagon, unit m；t0For driver
See the response time needed for amber light, be preset value, unit s；vnFor the real-time speed of vehicle, collect, unit m/s；anFor
The real time acceleration of vehicle, collects, unit m/s2；A is acquiescence yellow time, is preset value, unit s；
The vehicle for being unsatisfactory for above-mentioned inequality is awkward vehicle.
As stated above, described current conflict vehicle is travelled to the time t of conflict pointaComputational methods be specially：ta=
(Sa+La)/va；SaThe stop line passed through by current conflict vehicle to conflict point distance, unit m；LaIt is pre- for length of wagon
If value, unit m；vaFor the speed of current conflict vehicle, collect, unit m/s.
As stated above, described next phase place green light first car is travelled to the time t of conflict pointbComputational methods
Specially：
If next phase place green light first car is parked at stop line, accelerate to pass through crossing by static starting, thenWherein SbIt is next phase place green light first car place stop line to the distance between conflict point, unit m；ab
For the real time acceleration of next phase place green light first car, collect, unit m/s2；
If next phase place green light first car keeps certain speed by stop line, conflict point is driven towards, then tb=Sb/vb；
Wherein SbIt is next phase place green light first car place stop line to the distance between conflict point, unit m；vbFor next phase place
The speed of green light first car, collects, unit m/s.
As stated above, in described S3, if conflict point is more than 1, calculate each conflict point it is corresponding complete red when
Between, take maximum.
As stated above, in described S3, acquiescence complete red time and maximum complete red time are preset, when calculate it is complete red when
Between less than acquiescence complete red time, then set complete red time as acquiescence complete red time；When the complete red time for calculating is more than most complete works of
The red time, then complete red time is set as maximum complete red time.
As stated above, the distance between stop line of described detection start-finish line and place entrance driveway is 150m.
The letter of traffic control system copper sulfate basic dynamic adjusting method under for realizing described bus or train route cooperative surroundings
Number aid system, it is characterised in that：It include be arranged on the intelligent vehicle-carried equipment in vehicle, the trackside semaphore positioned at trackside,
And traffic light；Intelligent vehicle-carried equipment in detection zone is used to send this car car status information for collecting
Give trackside semaphore；Trackside semaphore is used to calculate phase according to the car status information of all vehicles in the detection zone for collecting
The yellow time of position and complete red time, and be sent to traffic light and shown.
Beneficial effects of the present invention are：This method obtains the real time position and speed per chassis under bus or train route cooperative surroundings
Information, dynamic optimization copper sulfate basic in the case of ensuring safety, makes vehicle reduce stop delay, so as to improve road
Traffic efficiency simultaneously reduces environmental pollution, can obtain good in terms of improving intersection efficiency, reducing intersection traffic accidents
Good effect.
Description of the drawings
Fig. 1 is that traffic control system arranges figure.
Fig. 2 is that schematic diagram is predicted in complete red time traffic conflict.
Fig. 3 is the method flow diagram of one embodiment of the invention.
In figure：1- trackside semaphores, 2- detection zones, 3- stop lines, 4- detection start-finish lines, 5- traffic light, 6- punchings
Bump, 7- current conflict vehicles, the next phase place green light first cars of 8-.
Specific embodiment
With reference to instantiation and accompanying drawing, the present invention will be further described.
The present invention provides traffic control system copper sulfate basic dynamic adjusting method under a kind of bus or train route cooperative surroundings, such as schemes
Shown in 3, it is comprised the following steps：
Travel condition of vehicle information in S1, in real time acquisition detection zone；Wherein detection zone is included from positioned at import track
Detection start-finish line start to by the region at crossing；
S2, yellow time analysis：When current phase place residue green time is less than 1s, run according to the vehicle in detection zone
Status information, is analyzed and optimizes to ensuing yellow time；After green time terminates, when current phase place enters amber light
Between；
S3, complete red time analysis：When current phase place residue yellow time is less than 1s, run according to the vehicle in detection zone
Status information, is analyzed and optimizes to ensuing complete red time；After yellow time terminates, when current phase place enters red light
Between；Complete red time refers to that current phase place amber light terminates the time interval started to next phase place green light；
S4, red time terminate, into green time；
S5, current phase place terminate, next phase loop S1 to S4.
The concrete grammar for being analyzed to yellow time in the S2 and optimizing is：
2.1st, judge to whether there is in the detection zone 2 vehicle has the vehicle can neither be in stop line within system default yellow time
In 3 under safe stopping, stop line 3 can not be passed through before amber light terminates, if not having, amber light is set by system default yellow time
Time.Specifically judge by the following method：When all vehicles in detection zone 2 are satisfied by following inequality, by system
Acquiescence yellow time arranges yellow time；
SnFor the distance of vehicle distances stop line 3, unit m；LnIt is preset value for length of wagon, unit m generally takes 6m；
t0In response time for needed for driver sees amber light, be preset value, unit s, usually 1s；vnFor the real-time speed of vehicle, adopt
Collection is obtained, unit m/s；anFor the real time acceleration of vehicle, collect, unit m/s2；A is acquiescence yellow time, is default
It is worth, unit s, usually 2s；
The vehicle for being unsatisfactory for above-mentioned inequality is awkward vehicle.
2.2nd, when there is the vehicle can neither be under safe stopping in stop line within system default yellow time, can not be in amber light
When before terminating by stop line 3, these vehicles are called vehicle of facing a difficult choice, when calculating required amber light as follows to vehicle of facing a difficult choice
Between：
Yellow time of the A for needed for vehicle, unit s；t0In response time for needed for driver sees amber light, be default
Value, unit s generally takes 1s；V is the real-time speed of vehicle, collects, unit m/s；A is the real time acceleration of vehicle, gathers
Obtain, unit m/s2；G is the gradient, is preset constant, is decimally represented；
Calculating yellow time needed for all awkward vehicles carries out rounding up and obtains confinement time, then chooses less than default
Maximum yellow time AmaxThe maximum constrained time, as the yellow time after optimization.
In order to ensure safety, A in practical applicationmaxGenerally take the 85th percentile speed v85Corresponding yellow time, i.e.,
Because during amber light, then green light signals continue through stop line to some vehicle, in order to prevent the car
Collide with next phase place green light first car, it is necessary to which certain complete red time is set, complete red time refers to that this phase place is yellow
Lamp end is to the time interval at the beginning of next phase place green light.The concrete grammar for being analyzed to complete red time in the S3 and optimizing is：
As shown in Fig. 2 the intersection point for setting current phase place route or travel by vehicle with next phase place green light route or travel by vehicle is as punching
Bump 6；If last is carved with a vehicle by stop line 3 before current phase place amber light extinguishes, if the vehicle is current conflict vehicle
7；
Calculate current conflict vehicle 7 respectively to travel to the time t of conflict pointa, and next row of phase place green light first car 8
Sail to the time t of conflict pointb, unit is s；So complete red time is ta-tbAfter round up.
Described current conflict vehicle 7 is travelled to the time t of conflict pointaComputational methods be specially：ta=(Sa+La)/va；
SaThe stop line 3 passed through by current conflict vehicle 7 to conflict point distance, unit m；LaIt is preset value for length of wagon, it is single
Position m；vaFor the speed of current conflict vehicle 7, collect, unit m/s.
Described next phase place green light first car 8 is travelled to the time t of conflict point 6bComputational methods be specially：
If next phase place green light first car 8 is parked at stop line 3, accelerate to pass through crossing by static starting, thenWherein SbIt is the place stop line 3 of next phase place green light first car 8 to the distance between conflict point 6, unit
m；abFor the real time acceleration of next phase place green light first car 8, collect, unit m/s2；
If next phase place green light first car 8 keeps certain speed by stop line 3, conflict point 6 is driven towards, then tb=Sb/
vb；Wherein SbIt is the place stop line 3 of next phase place green light first car 8 to the distance between conflict point 6, unit m；vbFor under
The speed of one phase place green light first car 8, collects, unit m/s.
Because crossing there may be multiple entrance driveway, so when vehicle passes through crossing, may be from different cars
There are multiple conflicts, vehicle is needed before next phase place green light first car by all conflict points 6.In described S3,
If conflict point 6 is more than 1, each corresponding complete red time of conflict point 6 is calculated, take maximum.
In described S3, acquiescence complete red time and maximum complete red time are preset, when the complete red time for calculating is less than acquiescence
Complete red time, then set complete red time to give tacit consent to complete red time, complete red time is given tacit consent in the present embodiment and takes 0s；It is complete when what is calculated
The red time more than maximum complete red time, then set complete red time as maximum complete red time, maximum complete red time be in order to avoid because
The system failure calculates complete red time excessive caused by reason and arranges, and 10s is taken in the present embodiment.
In the present embodiment, the distance between described stop line 3 for detecting start-finish line 4 and place entrance driveway is 150m.
The letter of traffic control system copper sulfate basic dynamic adjusting method under for realizing described bus or train route cooperative surroundings
Number aid system, as shown in figure 1, it include being arranged on the intelligent vehicle-carried equipment in vehicle, the trackside semaphore 1 positioned at trackside,
And traffic light 5；Intelligent vehicle-carried equipment in detection zone 2 is used to send out this car car status information for collecting
Give trackside semaphore 1；Trackside semaphore 1 is used for the car status information according to all vehicles in the detection zone 2 for collecting
Yellow time and the complete red time of phase place are calculated, and is sent to traffic light 5 and shown.
In the present embodiment, intelligent vehicle-carried equipment includes：Information acquisition module, for by GPS (global positioning system) skill
Art is gathered and processed and obtains the real-time car status information of this car vehicle, and car status information includes vehicle position information, vehicle
Place lane information, car speed, acceleration information；In-vehicle wireless communication module, adopts DSRC technology (DSRC skill
Art), the information for collecting is sent to into trackside semaphore.
Trackside semaphore includes：Information communication module, using DSRC communication modes the telecommunication flow information on road is received；Intelligence
Energy analysis module, according to the real-time car status information of vehicle in detection zone and length of wagon information, calculates in real time
Green light is spaced timing scheme, and including current optimization yellow time and complete red time, and dynamic adjusts traffic light timing side
Case.
Above example is merely to illustrate the design philosophy and feature of the present invention, its object is to make technology in the art
Personnel will appreciate that present disclosure and implement according to this that protection scope of the present invention is not limited to above-described embodiment.So, it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (8)
1. traffic control system copper sulfate basic dynamic adjusting method under a kind of bus or train route cooperative surroundings, it is characterised in that：It is wrapped
Include following steps：
Travel condition of vehicle information in S1, in real time acquisition detection zone；Wherein detection zone is included from the inspection positioned at import track
Survey start-finish line to start to by the region at crossing；
S2, yellow time analysis：When current phase place residue green time is less than 1s, according to the travel condition of vehicle in detection zone
Information, is analyzed and optimizes to ensuing yellow time；After green time terminates, current phase place enters yellow time；
S3, complete red time analysis：When current phase place residue yellow time is less than 1s, according to the travel condition of vehicle in detection zone
Information, is analyzed and optimizes to ensuing complete red time；After yellow time terminates, current phase place enters red time；Entirely
The red time refers to that current phase place amber light terminates the time interval started to next phase place green light；
S4, red time terminate, into green time；
S5, current phase place terminate, next phase loop S1 to S4；
The concrete grammar for being analyzed to yellow time in the S2 and optimizing is：
2.1st, judge that vehicle is whether there is in detection zone has vehicle to pacify in stop line within system default yellow time
Under full cut-off, stop line can not be passed through before amber light terminates, if not having, is set by system default yellow time yellow time；
2.2nd, when there is vehicle can neither to terminate in amber light under safe stopping in stop line within system default yellow time
It is front by stop line when, these vehicles be called face a difficult choice vehicle, to face a difficult choice vehicle calculate required yellow time as follows：
Yellow time of the A for needed for vehicle, unit s；t0In response time for needed for driver sees amber light, be preset value, unit
s；V is the real-time speed of vehicle, collects, unit m/s；A is the real time acceleration of vehicle, collects, unit m/s2；g
It is preset constant for the gradient；
Calculating yellow time needed for all awkward vehicles carries out rounding up and obtains confinement time, then choose less than it is default most
Big yellow time AmaxThe maximum constrained time, as the yellow time after optimization；
The concrete grammar for being analyzed to complete red time in the S3 and optimizing is：
If current phase place route or travel by vehicle is conflict point with the intersection point of next phase place green light route or travel by vehicle；If current phase place
Last is carved with a vehicle by stop line before amber light extinguishes, if the vehicle is current conflict vehicle；
Calculate current conflict vehicle respectively to travel to the time t of conflict pointa, and next phase place green light first car travelled to punching
The time t of bumpb, unit is s；So complete red time is ta-tbAfter round up.
2. traffic control system copper sulfate basic dynamic adjusting method under bus or train route cooperative surroundings according to claim 1,
It is characterized in that：Described 2.1 specifically judge by the following method：When all vehicles in the detection zone be satisfied by it is following not
During equation, is set by system default yellow time yellow time；
SnFor the distance of vehicle distances stop line, unit m；LnIt is preset value for length of wagon, unit m；t0See for driver
In response time needed for amber light, be preset value, unit s；vnFor the real-time speed of vehicle, collect, unit m/s；anFor vehicle
Real time acceleration, collect, unit m/s2；A is acquiescence yellow time, is preset value, unit s；
The vehicle for being unsatisfactory for above-mentioned inequality is awkward vehicle.
3. traffic control system copper sulfate basic dynamic adjusting method under bus or train route cooperative surroundings according to claim 1,
It is characterized in that：Described current conflict vehicle is travelled to the time t of conflict pointaComputational methods be specially：ta=(Sa+La)/
va；SaThe stop line passed through by current conflict vehicle to conflict point distance, unit m；LaIt is preset value for length of wagon, it is single
Position m；vaFor the speed of current conflict vehicle, collect, unit m/s.
4. traffic control system copper sulfate basic dynamic adjusting method under bus or train route cooperative surroundings according to claim 1,
It is characterized in that：Described next phase place green light first car is travelled to the time t of conflict pointbComputational methods be specially：
If next phase place green light first car is parked at stop line, accelerate to pass through crossing by static starting, thenWherein SbIt is next phase place green light first car place stop line to the distance between conflict point, unit m；
abFor the real time acceleration of next phase place green light first car, collect, unit m/s2；
If next phase place green light first car keeps certain speed by stop line, conflict point is driven towards, then tb=Sb/vb；Wherein
SbIt is next phase place green light first car place stop line to the distance between conflict point, unit m；vbFor next phase place green light
The speed of first car, collects, unit m/s.
5. under the bus or train route cooperative surroundings according to claim 1 or 4 traffic control system copper sulfate basic dynamic adjustment side
Method, it is characterised in that：In described S3, if conflict point is more than 1, the corresponding complete red time of each conflict point is calculated, taken
Maximum.
6. under the bus or train route cooperative surroundings according to claim 1 or 4 traffic control system copper sulfate basic dynamic adjustment side
Method, it is characterised in that：In described S3, preset acquiescence complete red time and maximum complete red time, when the complete red time for calculating it is little
In acquiescence complete red time, then complete red time is set to give tacit consent to complete red time；When the complete red time for calculating more than it is most complete works of red when
Between, then complete red time is set as maximum complete red time.
7. traffic control system copper sulfate basic under bus or train route cooperative surroundings as claimed in any of claims 1 to 4
Dynamic adjusting method, it is characterised in that：The distance between described stop line for detecting start-finish line and place entrance driveway is 150m.
8. it is used to realize traffic control system copper sulfate basic dynamic adjustment side under the bus or train route cooperative surroundings described in claim 1
The signal aid system of method, it is characterised in that：It includes that the intelligent vehicle-carried equipment being arranged in vehicle, the trackside positioned at trackside are believed
Number machine and traffic light；Intelligent vehicle-carried equipment in detection zone is used for this car vehicle-state letter that will be collected
Breath is sent to trackside semaphore；Trackside semaphore is used for the car status information according to all vehicles in the detection zone for collecting
Yellow time and the complete red time of phase place are calculated, and is sent to traffic light and shown.
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| CN107274684A (en) * | 2017-08-01 | 2017-10-20 | 东南大学 | A kind of single-point integrative design intersection policy selection method under bus or train route cooperative surroundings |
| CN108399762A (en) * | 2018-05-08 | 2018-08-14 | 北京航空航天大学 | A kind of automatic Pilot and pilot steering vehicle mix the intersection control method under the conditions of row |
| CN108898857A (en) * | 2018-06-13 | 2018-11-27 | 同济大学 | A kind of intersection motor vehicle green light interval setting method considering security reliability |
| CN109887287A (en) * | 2019-03-25 | 2019-06-14 | 浙江大学 | Green light time interval setting method under car networking environment |
| CN112509343A (en) * | 2020-10-26 | 2021-03-16 | 长沙理工大学 | Roadside type guiding method and system based on vehicle-road cooperation |
| CN112927514A (en) * | 2021-04-09 | 2021-06-08 | 同济大学 | Motor vehicle yellow light running behavior prediction method and system based on 3D laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107274684A (en) * | 2017-08-01 | 2017-10-20 | 东南大学 | A kind of single-point integrative design intersection policy selection method under bus or train route cooperative surroundings |
| CN107274684B (en) * | 2017-08-01 | 2020-01-10 | 东南大学 | Single-point intersection signal control strategy selection method under cooperative vehicle and road environment |
| CN108399762A (en) * | 2018-05-08 | 2018-08-14 | 北京航空航天大学 | A kind of automatic Pilot and pilot steering vehicle mix the intersection control method under the conditions of row |
| CN108898857A (en) * | 2018-06-13 | 2018-11-27 | 同济大学 | A kind of intersection motor vehicle green light interval setting method considering security reliability |
| CN109887287A (en) * | 2019-03-25 | 2019-06-14 | 浙江大学 | Green light time interval setting method under car networking environment |
| CN112509343A (en) * | 2020-10-26 | 2021-03-16 | 长沙理工大学 | Roadside type guiding method and system based on vehicle-road cooperation |
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| CN113299065A (en) * | 2021-05-21 | 2021-08-24 | 上海旷途科技有限公司 | Timing method and device for signal control of intersection green light interval time, computer equipment and storage medium |
| CN113299065B (en) * | 2021-05-21 | 2022-08-05 | 上海旷途科技有限公司 | Timing method and device for signal control of intersection green light interval time, computer equipment and storage medium |
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