CN106846835A - Self-adaptive coordination control method for urban area traffic signals - Google Patents
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Abstract
The invention relates to a self-adaptive coordination control method for urban regional traffic signals, which integrates a plurality of control optimization algorithms with different characteristics, optimizes signal timing parameters of regional intersections according to the actual conditions of traffic flow by establishing a timing module, can reasonably select a control technology according to the conditions of layout positions no matter whether an traffic flow detector on a road section is arranged at any position, and is suitable for self-adaptive coordination control of signals in different traffic states of the regions. On the basis of considering traffic demands of intersections in a plurality of periods, the method aims at improving the overall traffic operation efficiency of the area, comprehensively analyzes the phase demand of a single intersection, makes an area signal adaptive coordination control strategy, and further performs overflow (deadlock) detection and phase difference optimization on road traffic flow, thereby reducing instability and potential safety hazards of a real-time adaptive system to the traffic flow, improving the area traffic operation conditions, relieving traffic jam and improving the traffic capacity of area traffic.
Description
Technical field
The invention discloses a kind of city area-traffic signal adaptive control method for coordinating, belong to intelligent traffic signal control
Technical field processed.
Background technology
In recent years, as the swift and violent growth of vehicle guaranteeding organic quantity causes that the load of urban road network is increasingly weighed, road network
The unbalanced phenomenon of traffic flow is very prominent, and the traffic congestion in regional area and section causes that traffic accident occurs again and again again, pole
Earth effect civic goes out line efficiency and safety.Urban area main traffic artery morning and evening peak period congestion is serious, wagon flow
Tidal phenomena substantially, and under original signal control system, high intelligent control degree is inadequate, it is impossible to adapt to the change of traffic flow
Change.Therefore, the lamp control crossing in city is managed collectively, sets up the self-adaptive wavelet base system of regional traffic signal,
The work of the intelligent signal level control of lifting is extremely urgent.
Foreign countries obtain more achievement in terms of regional traffic signal adaptive system research, and application is ripe extensively, such as
SCOOT systems, SCAT systems, TRANSYT systems, ACTRA systems etc., domestic many cities are also introduced sequentially into is handed over lifting region
Logical operational efficiency.But, after these systems introduce domestic application, because the basic characteristics of China's mixed traffic, traffic base set
The restriction using composite factors such as constraints built and fall behind and lack relevant speciality operation maintenance personnel and system itself is applied, is produced
More practical operation problem, it is impossible to be effectively applicable to local traffic.Under above mentioned problem background, studies in China personnel
The research and development of the Area Traffic Control System of suitable China's urban transportation feature, such as Nanjing NUTCS are targetedly carried out
System, Hisense HiCon systems, Shenzhen SMOOTH systems etc..But, these systems are typically just in the specific region of a few cities
The application of less scope is carried out, systemic-function and application scenarios are simple and not mature enough, it is impossible to successfully managing domestic complexity
Changeable traffic noise prediction.
It is compared with prior art, of the invention for the deficiency of domestic and international existing regional traffic signal coordination control system
Advantage is：
1. invention is applied to region different traffic, by setting up the timing module comprising multi-model with reference to algorithm, such as
Shown in Fig. 1, the control optimized algorithm of various different characteristics is integrated with, and optimize region intersection according to the actual conditions of traffic flow
Signal timing dial parameter.
2. the different installation site of detector is applied to, according to intersection traffic current sensor installation position situation reasonably
Selection control technology, so as to enable to be applied even more extensively in regional signal control.Two kinds of detectors are illustrated in fig. 2
At the mode of installation, a kind of import installed in intersection, a kind of exit installed in intersection.Inspection at import
Surveying device can in real time detect the traffic flow situation for reaching intersection, and the intersection using this detector mounting means is compared
It is adapted to using sensing control technique of real-time control；Obtaining detector installed in exit can detect queue length, using this
The intersection of detector mounting means can utilize fuzzy control.
3. intersection is considered on the basis of transport need in multiple cycles, is with lifting region entirety traffic circulation efficiency
Target, the phase demand of comprehensive analysis Single Intersection formulates regional signal self-adaptive wavelet base strategy, and further section is handed over
It is through-flow to be overflowed (deadlock) detection and offset optimization, so that reduce that real-time adaptive system causes to traffic flow is unstable
Property and potential safety hazard.
The content of the invention
In order to solve the above technical problems, providing a kind of city area-traffic signal adaptive control method for coordinating, the method
Based on the transport need of intersection signal phase in region, the change of out of phase transport need in detection and analysis multiple cycles
Whether change situation, each multiphase traffic time allocation according to multiple cycles meets corresponding transport need, is calculated current by timing module
Theoretical timing under transport need, and contrasted with the multiphase traffic time allocation of current operation, further analyze the intersection signal side
The reasonability of case.Similarly calculate whether all signalized intersections timing schemes in analyzed area meet Current traffic operation demand,
And the regional coordination strategies such as corresponding intersection split, cycle and phase difference and control parameter are carried out according to analysis result
Adjustment.Wherein, if analysis result is regional cycle, length is constant, comprising intersection according to the demand of each phase adjust it is green
Letter ratio, if analytical structure is can not to have met transport need the current region cycle, by calculating each intersection to the cycle
The requirement of length, the cycle time of synthetic determination regional coordination, the distribution of followed by each intersection split.In intersection control
After scheme processed determines, split adjustment rationality checking is carried out to it, prevent section overflow phenomena.Technical scheme route map is as schemed
Shown in 3.Specifically adopt the following technical scheme that：
1) initializing signal timing, initial configuration is carried out to each intersection control signal parameter；
2) traffic flow in each phase is detected by HD video, earth magnetism or induction coil, gathers traffic flow
Data；
3) timing module calculates phase green time according to the traffic flow data of collection：The phase green time of calculating is more than
During the phase green time of actual motion, "+" is marked to the phase；Phase of the phase green time of calculating less than actual motion
During green time, "-" is marked to the phase；It is right when the phase green time of calculating is equal to the phase green time of actual motion
The phase marks " 0 "；
4) Single Intersection period modulation strategy is determined：In single intersection, in a cycle each phase all mark for
" 0 ", or "+" and "-" simultaneously in the presence of, the intersection is labeled as " U ", if the intersection at least continuous N period indicia
It is " U " that it is constant that the intersection is defined as the cycle；All mark is or "-" each phase of a cycle, by intersection mark
It is " C " that if the intersection at least continuous N period indicia is " C ", the intersection is defined as period modulation；
5) adjustable strategies regional cycle are determined：If the intersection quantity that intra-zone need to adjust the cycle is less than whole intersections
The half of quantity, it is constant that the region is defined as the cycle, into step 6)；If intra-zone need to adjust the intersection quantity in cycle not
Less than whole intersection quantity half or crucial intersection need to be adjusted, the region is defined as period modulation, into step 7)；
6) cycle it is constant under split allocation strategy：When intersection cycle each phase mark is " 0 ", split scheme is not
Need adjustment；
Intersection cycle each phase mark be "+" and "-" simultaneously in the presence of, the green letter of optimization is performed after the M+1 cycles
Than scheme, specifically optimize and revise as follows：The phase green time that model is calculated is gm, actual motion phase green time is gf, phase
Position demand difference is Δ t=gm-gf, whenThen the green time equilibrium assignment of each phase；WhenWhen, then
The whole phase difference times labeled as "-" and being evenly distributed in the phase labeled as "+", the green light that each phase assignments are arrived
Time is：p+It is the phase labeled as "+"；
7) the split allocation strategy under period modulation：The Cycle Length of crucial intersection is Ck, maximum cycle length is
Lmax, there is Ck≤Lmax, it is g that phase increases or decreases green timea, minimum green time is gmin；
If whole phase marks are "+", whenThenIt is now crucial to hand over
The prong cycle isWhenHaveThis
The Shi Guanjian intersections cycle is Ck_new=Lmax；Remaining intersection cycle isDuring the green letter of each phase
Between set it is as follows：
If whole phase marks are "-", work as gm＜ gmin, haveWork as gm≥gmin,Now the crucial intersection cycle beIts
The remaining region intersection cycle is Ci=Ck_new, 0 ＜ i ＜ n, i ≠ k, each phase is green to believe that set of time is as follows：
Preferably, also comprise the following steps：
8) anti-spilled phase green time detection, the vehicle that upstream intersection arbitrary phase is put into downstream intersection should not
More than downstream road section residue road link speed, following condition need to be met for the arbitrary phase that flows into,
sikigi(t+1)+Nj(t)≤Nj_max, 0 ＜ i≤p
In formula, si、ki、gi、NjAnd Nj_maxRespectively track saturation volume rate, number of track-lines, phase effectively it is green when, section it is current
Vehicle queue length and maximum queue length；
When the conditions set forth above are not met, then have
9) offset optimization strategy, when regional cycle and split adjustment determine laggard line phase difference optimization, according to main line
Current state carries out self-adaptative adjustment, and when downstream intersection has vehicle queue, phase difference sets condition such as following formula：
In formula, LjIt is the length of section j, vjIt is the vehicle average speed of section j, λ is the dissipation velocity of wave of queuing vehicle.
The present invention has following beneficial technique effect：
1. invention be applied to region different traffic, by setting up timing module, as shown in figure 1, be integrated with it is various not
With the control optimized algorithm of feature, and optimize the signal timing dial parameter of region intersection according to the actual conditions of traffic flow.
2. the different installation site of detector is applied to, according to intersection traffic current sensor installation position situation reasonably
Selection control technology, so as to enable to be applied even more extensively in regional signal control.Two kinds of detectors are illustrated in fig. 2
At the mode of installation, a kind of import installed in intersection, a kind of exit installed in intersection.Inspection at import
Surveying device can in real time detect the traffic flow situation for reaching intersection, and the intersection using this detector mounting means is compared
It is adapted to using sensing control technique of real-time control；Obtaining detector installed in exit can detect queue length, using this
The intersection of detector mounting means can utilize fuzzy control.
3. intersection is considered on the basis of transport need in multiple cycles, is with lifting region entirety traffic circulation efficiency
Target, the phase demand of comprehensive analysis Single Intersection formulates regional signal self-adaptive wavelet base strategy, and further section is handed over
It is through-flow to be overflowed (deadlock) detection and offset optimization, so that reduce that real-time adaptive system causes to traffic flow is unstable
Property and potential safety hazard.
Brief description of the drawings
Fig. 1 is multi-model reference configuration figure.
Fig. 2 is detector different installation schematic diagram.
Fig. 3 is city area-traffic signal adaptive control method for coordinating flow chart.
Fig. 4 is the demand analysis of intersection signal phase and control optimization structure chart.
Specific embodiment
It is described in detail for the technical scheme that Summary is used below in conjunction with the accompanying drawings, key step is such as
Under：
Step 1：Initializing signal timing, control plan is coordinated with reference to Single Intersection Webster timing methods and regional signal
Signal timing dial slightly or after optimization carries out initial configuration to each intersection control signal parameter.
Step 2：Each phase traffic data detection, by detectors pair such as HD video detection, earth magnetism or induction coils
Traffic flow in each phase carries out demand detection, there is provided whether the phase time supply of each traffic flow disclosure satisfy that actual traffic stream
The basis of demand judges data.
Step 3：Phase demand analysis, based on each phase Traffic flow detecting data, is provided by timing module and meets the friendship
Reference signal timing data in the case of through-flow, and on-site signal controller directly produces control signal to act on each of intersection
Phase traffic flow, because signal controller is usually using multi-period fixed timing or sensing control mode, multi-period fixation
Its control signal of timing is changeless in a period, it is impossible to the change demand of reflection consolidation traffic flow in time, and is sensed
Control is generally used for the single-point control that main and secondary road traffic flow differs greatly, and because its mechanical periodicity is indefinite, is generally unsuitable for
Area coordination control model, the major function of multi-model reference is to provide preferable timing information in real time according to Traffic flow detecting data,
The integrated various real time control algorithms of the module, and calculated from the control algolithm for best suiting according to crossing different traffic
Optimal timing information, as shown in Figure 4.So both timing signal parameters are typically inconsistent.
After the selected model algorithm of detection data according to traffic flow, calculate corresponding multiphase traffic time allocation and with actual motion
Signal timing dial is analyzed, and process is as follows：
1) when the phase green time that timing module is calculated is more than the phase green time of actual motion, then to the phase mark
The actual green time for noting (+), the i.e. phase can not meet traffic flow demand, need to increase the green time of the phase to improve this
The traffic capacity of phase.
2) when the phase green time that timing module is calculated is less than the phase green time of actual motion, then to the phase mark
The actual green time for noting (-), the i.e. phase has exceeded the demand of traffic flow, need to reduce the green time of the phase so that avoid can
The green light sky that can occur puts phenomenon.
3) when the phase green time that timing module is calculated is equal to the phase green time of actual motion, then to the phase mark
The actual green time for noting (0), the i.e. phase disclosure satisfy that the demand of traffic flow, it is not necessary to adjustment phase place green time.
Step 4：Single Intersection period modulation strategy, mainly there is two kinds of situations：One is constant cycle stage, and two is adjustment
Cycle stage.
1) condition that need to be met for constant cycle stage is as follows：In a cycle each phase all mark for 0), or
(+) and (-) is present, then the split of each phase need to be only adjusted under this cycle, and the intersection is labeled as (U), the intersection
When at least continuous N period indicia is (U), it is determined that meet this kind of situation.
2) it is as follows for the adjustment condition that need to meet of cycle stage：Each phase of a cycle all mark for+) or
(-), then this cycle do not applied to the transport need of all phases, it is necessary to increase or reduce cycle time and distribute green letter
Than the intersection is labeled as (C), when the intersection at least continuous N period indicia is (C), it is determined that meet this kind of situation.
Step 5：Regional coordination analysis of strategies, mainly there is two kinds of situations：One is that the intra-zone affiliated intersection cycle is constant
Situation, two is intra-zone intersection period modulation situation.Assuming that region is N comprising intersection quantity, crucial intersection is Ik。
1) cycle constant situation meets following condition：Intra-zone need to adjust the intersection quantity in cycle less than all intersections
The half of mouth quantity, i.e.,：
2) period modulation situation meets following condition：Intra-zone need to adjust the intersection quantity in cycle not less than all friendships
The half of prong quantity need to adjust crucial intersection, i.e.,：
Step 6：Split Optimization strategy under cycle is constant,
1) during for intersection cycle each phase mark for (0), then split scheme is not required to adjustment.
2) be (+) or (-) for intersection cycle each phase mark and meanwhile in the presence of, then performed after the M+1 cycles new
Split scheme, specifically optimize and revise as follows：The phase green time that hypothesized model is calculated is gm, actual motion phase green light
Time is gf, phase demand difference is Δ t=gm-gf.When all phases demand difference and be zero, i.e.,Then each
The green time equilibrium assignment of phase.WhenWhen, then labeled as whole phase difference times of (-) and mean allocation
To in the phase labeled as (+), the corresponding phase green time reduced labeled as (-), each phase assignments to green time be：p+It is the phase labeled as (+).
Step 7：Split allocation strategy under period modulation, it is assumed that the Cycle Length of crucial intersection is Ck, maximum week
Phase length is Lmax, there is Ck≤Lmax, it is g that phase increases or decreases green timea, minimum green time is gmin。
1) it is the situation of (+) for whole phase marks, whenThen haveNow the crucial intersection cycle beWhenHaveNow the crucial intersection cycle is Ck_new=Lmax.Remaining intersection cycle is Ci
=Ck_new, 0 ＜ i ＜ n, i ≠ k, each phase is green to believe that set of time is as follows：
2) it is the situation of (-) for whole phase marks, works as gm＜ gm i n, have
Work as gm≥gmin,Now the crucial intersection cycle beRemaining region intersection cycle is Ci=Ck_new,
0 ＜ i ＜ n, i ≠ k, each green letter set of time of phase is as follows：
Step 8：Anti-spilled phase green time detection, upstream intersection arbitrary phase is put into the vehicle of downstream intersection
Downstream road section residue road link speed should be not more than, following condition need to be met for the arbitrary phase that flows into, i.e.,
sikigi(t+1)+Nj(t)≤Nj_max, 0 ＜ i≤p
In formula, si、ki、gi、NjAnd Nj_maxRespectively track saturation volume rate, number of track-lines, phase effectively it is green when, section it is current
Vehicle queue length and maximum queue length.
When the conditions set forth above are not met, then have
Step 9：Offset optimization strategy, when regional cycle and split adjustment determine laggard line phase difference optimization, according to
The current state of main line carries out self-adaptative adjustment, it is considered to when downstream intersection has vehicle queue, under the vehicle that upstream is let pass is reached
The time for swimming intersection queuing vehicle should be consistent in the evanescent wave due in of downstream queuing vehicle.Accordingly, phase difference is set
Condition such as following formula：
In formula, LjIt is the length of section j, vjIt is the vehicle average speed of section j, λ is the dissipation velocity of wave of queuing vehicle.
Claims (2)
1. a kind of a kind of traffic phase control method, more particularly to city area-traffic signal adaptive control method for coordinating, its
It is characterised by,
1) initializing signal timing, initial configuration is carried out to each intersection control signal parameter；
2) traffic flow in each phase is detected by HD video, earth magnetism or induction coil, gathers traffic flow data；
3) timing module calculates phase green time according to the traffic flow data of collection：The phase green time of calculating is more than actual
During the phase green time of operation, "+" is marked to the phase；Phase green light of the phase green time of calculating less than actual motion
During the time, "-" is marked to the phase；When the phase green time of calculating is equal to the phase green time of actual motion, to the phase
Position mark " 0 "；
4) Single Intersection period modulation strategy is determined：It is 0 that each phase is all marked in single intersection, in a cycle ",
Or "+" and "-" simultaneously in the presence of, the intersection is labeled as " U ", if the intersection at least continuous N period indicia is
" U ", it is constant that the intersection is defined as the cycle；All mark is or "-" to be labeled as the intersection to each phase of a cycle
" C ", if the intersection at least continuous N period indicia is " C ", the intersection is defined as period modulation；
5) adjustable strategies regional cycle are determined：If the intersection quantity that intra-zone need to adjust the cycle is less than whole intersections quantity
Half, it is constant that the region is defined as the cycle, into step 6)；If the intersection quantity that intra-zone need to adjust the cycle is not less than
The half of whole intersection quantity need to adjust crucial intersection, and the region is defined as period modulation, into step 7)；
6) cycle it is constant under split allocation strategy：When intersection cycle each phase mark is " 0 ", split scheme is not required to adjust
It is whole；
Intersection cycle each phase mark be "+" and "-" simultaneously in the presence of, the split side of optimization is performed after the M+1 cycles
Case, specifically optimizes and revises as follows：The phase green time that model is calculated is gm, actual motion phase green time is gf, phase need to
It is Δ t=g to seek differencem-gf, whenThen the green time equilibrium assignment of each phase；WhenWhen, then mark
It is designated as whole phase difference times of "-" and is evenly distributed in the phase labeled as "+", the green time that each phase assignments are arrived
For：p+It is the phase labeled as "+"；
7) the split allocation strategy under period modulation：The Cycle Length of crucial intersection is Ck, maximum cycle length is Lmax, have
Ck≤Lmax, it is g that phase increases or decreases green timea, minimum green time is gmin；
If whole phase marks are "+", whenThenIt is now crucial to intersect
Mouthful cycle isWhenHaveThis
The Shi Guanjian intersections cycle is Ck_new=Lmax；Remaining intersection cycle isDuring the green letter of each phase
Between set it is as follows：
If whole phase marks are "-", work as gm＜ gmin, haveWork as gm≥gmin,Now the crucial intersection cycle be
Remaining region intersection cycle is Ci=Ck_new, 0 ＜ i ＜ n, i ≠ k, each phase is green to believe that set of time is as follows：
2. city area-traffic signal adaptive control method for coordinating as claimed in claim 1, it is characterised in that also include：
8) anti-spilled phase green time detection, the vehicle that upstream intersection arbitrary phase is put into downstream intersection should be not more than
Downstream road section residue road link speed, following condition need to be met for the arbitrary phase that flows into,
sikigi(t+1)+Nj(t)≤Nj_max, 0 ＜ i≤p
In formula, si、ki、gi、NjAnd Nj_maxRespectively track saturation volume rate, number of track-lines, phase effectively it is green when, section Current vehicle
Queue length and maximum queue length；
When the conditions set forth above are not met, then have
9) offset optimization strategy, it is current according to main line when regional cycle and split adjustment determine laggard line phase difference optimization
State carries out self-adaptative adjustment, and when downstream intersection has vehicle queue, phase difference sets condition such as following formula：
In formula, LjIt is the length of section j, vjIt is the vehicle average speed of section j, λ is the dissipation velocity of wave of queuing vehicle.
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| CN108765991A (en) * | 2018-06-19 | 2018-11-06 | 北京建筑大学 | Signalized intersections anti-locking control system and method |
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| CN115376340A (en) * | 2022-08-10 | 2022-11-22 | 重庆市城投金卡信息产业(集团)股份有限公司 | Cross-platform traffic signal lamp coordination control method based on RFID |
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| CN113393680A (en) * | 2021-08-17 | 2021-09-14 | 深圳市城市交通规划设计研究中心股份有限公司 | Adaptive control method and device for sub-region coordination |
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| CN115131977A (en) * | 2022-06-22 | 2022-09-30 | 上海理工大学 | Single-point intersection signal timing method aiming at sudden overflow risk |
| CN115131977B (en) * | 2022-06-22 | 2023-09-05 | 上海理工大学 | Single-point intersection signal timing method for sudden overflow risk |
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| CN115376340A (en) * | 2022-08-10 | 2022-11-22 | 重庆市城投金卡信息产业(集团)股份有限公司 | Cross-platform traffic signal lamp coordination control method based on RFID |
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