CN106846835B - Self-adaptive coordination control method for urban area traffic signals - Google Patents
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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 technique
In recent years, as the swift and violent of vehicle guaranteeding organic quantity increases so that the load of urban road network is increasingly heavier, road network
The unbalanced phenomenon of traffic flow is very prominent, and the traffic congestion in regional area and section occurs traffic accident again and again again, pole
The earth affects line efficiency and the safety out of citizen.Urban area main traffic artery morning and evening peak period congestion is serious, wagon flow
Tidal phenomena it is obvious, and under original signal control system, high intelligent control degree is inadequate, can not adapt to the change of traffic flow
Change.Therefore, the lamp control crossing in city is managed collectively, establishes the self-adaptive wavelet base system of regional traffic signal,
The work for promoting intelligent signal level control is extremely urgent.
Foreign countries obtain more achievement in terms of regional traffic signal adaptive system research, and application is mature extensively, such as
SCOOT system, SCAT system, TRANSYT system, ACTRA system etc., domestic many cities are also introduced sequentially into is handed over lifting region
Logical operational efficiency.But after these systems introduce domestic application, since the basic characteristics of China's mixed traffic, traffic base are set
The restriction that construction falls behind and lack the composite factors such as the application constraint of relevant speciality operation maintenance personnel and system itself is applied, is generated
More practical operation problem, cannot be effectively applicable to local traffic condition.Under above problem background, studies in China personnel
The research and development for targetedly having carried out the Area Traffic Control System of suitable China's urban transportation feature, such as Nanjing NUTCS
System, Hisense's HiCon system, Shenzhen SMOOTH system etc..But these systems are typically just in the specific region of a few cities
The application of less range is carried out, system function and application scenarios are simple and not mature enough, can not successfully manage 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 suitable for region different traffic, the timing module of algorithm is referred to comprising multi-model by establishing, such as
Shown in Fig. 1, it is integrated with the control optimization algorithm of a variety of different characteristics, and optimize region intersection according to the actual conditions of traffic flow
Signal timing dial parameter.
2. being suitable for the different installation site of detector, reasonably according to intersection traffic current sensor installation position situation
Control technology is selected, to enable to be applied even more extensively in regional signal control.Two kinds of detectors are illustrated in Fig. 2
The mode of installation, a kind of entrance being mounted on intersection, a kind of exit being mounted on intersection.It is mounted on the inspection of entrance
The traffic flow situation for reaching intersection can be detected in real time by surveying device, and the intersection using this detector mounting means is compared
It is suitble to using induction control technique of real-time control；It is mounted on exit and obtains detector and can detecte queue length, use is this
The intersection of detector mounting means can use fuzzy control.
3. considering that intersection on the basis of transport need, is with lifting region entirety traffic circulation efficiency within multiple periods
Target, the phase demand of comprehensive analysis Single Intersection formulate regional signal self-adaptive wavelet base strategy, further hand over section
It is through-flow to be overflowed (deadlock) detection and offset optimization, so that it is unstable caused by traffic flow to reduce real-time adaptive system
Property and security risk.
Summary of the invention
In order to solve the above technical problems, providing a kind of city area-traffic signal adaptive control method for coordinating, this method
Based on the transport need of intersection signal phase in region, the change of out of phase transport need in multiple periods is tested and analyzed
Change situation, whether corresponding transport need is met according to each multiphase traffic time allocation in multiple periods, is calculated by timing module current
Theoretical timing under transport need, and compared with currently running multiphase traffic time allocation, 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 coordinations strategies such as corresponding intersection split, period and phase difference and control parameter are carried out based on the analysis results
Adjustment.Wherein, if analysis the result is that regional cycle length it is constant, the intersection for including according to the demand of each phase adjust it is green
Ratio is believed, if analysis structure is to be no longer satisfied transport need in the current region period, by calculating each intersection to the period
The requirement of length, the cycle time of comprehensive judgement regional coordination, the distribution of followed by each intersection split.It is controlled in intersection
After scheme processed determines, split adjustment rationality checking is carried out to it, prevents section overflow phenomena.Technical solution route map is as schemed
Shown in 3.Specifically adopt the following technical scheme that
1) initializing signal timing carries out initial configuration to each intersection control signal parameter；
2) traffic flow in each phase is detected by HD video, earth magnetism or induction coil, acquires traffic flow
Data；
3) timing module calculates phase green time according to the traffic flow data of acquisition: the phase green time of calculating is greater than
When the phase green time of actual motion, "+" is marked to the phase；The phase green time of calculating is less than the phase of actual motion
When 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) determine Single Intersection period modulation strategy: in single intersection, in a cycle each phase all label for
When " 0 " or "+" and "-" exist simultaneously, which is labeled as " U ", if the intersection at least continuous N period indicia
For " U ", it is constant which is determined as the period；All label is or "-" each phase of a cycle, which is marked
For " C ", if the intersection at least continuous N period indicia is " C ", which is determined as period modulation；
5) adjustable strategies regional cycle are determined: if the intersection quantity in adjustment period is needed to be less than whole intersections inside region
The half of quantity, it is constant which is determined as the period, enters step 6)；If needing the intersection quantity in adjustment period inside region not
Less than whole intersection quantity half or crucial intersection need to be adjusted, which is determined as period modulation, enters step 7)；
6) period it is constant under split allocation strategy: intersection period each phase mark be " 0 " when, split scheme is not
It needs to adjust；
When intersection period each phase mark is that "+" and "-" exist simultaneously, the green letter of optimization is executed after the M+1 period
Than scheme, specifically optimize and revise as follows: the phase green time that model calculates 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
It whole phase difference times labeled as "-" and is evenly distributed in the phase labeled as "+", the green light that each phase assignments arrive
Time are as follows:p+For 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, which increases or decreases green time,a, minimum green time is gmin；
If whole phase marks are "+", whenThenIt is crucial at this time
The intersection period isWhenHaveThe crucial intersection period is C at this timek_new=Lmax；Remaining intersection period isEach phase green letter time is provided that
If whole phase marks are "-", work as gm< gmin, haveWork as gm≥gmin,The crucial intersection period is at this timeRemaining region intersection period is Ci=Ck_new,
0 < i < n, i ≠ k, each phase green letter time are provided that
Preferably, further include following steps:
8) anti-spilled phase green time detection, the vehicle that upstream intersection arbitrary phase is put into downstream intersection should not
Greater than downstream road section residue road link speed, following condition need to be met for arbitrarily flowing into phase,
sikigi(t+1)+Nj(t)≤Nj_max, 0 < i≤p
In formula, si、ki、gi、NjAnd Nj_maxWhen respectively lane saturation volume rate, number of track-lines, phase are effectively green, 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 carries out offset optimization after determining regional cycle and split adjustment, according to main line
Prevailing state is adaptively adjusted, and when downstream intersection has vehicle queue, condition such as following formula is arranged in phase difference:
In formula, LjFor the length of section j, vjFor the average vehicle speed of section j, λ is the dissipation velocity of wave of queuing vehicle.
The present invention has following beneficial technical effect:
1. invention be suitable for region different traffic, by establishing timing module, as shown in Figure 1, be integrated with it is a variety of not
With the control optimization algorithm of feature, and according to the signal timing dial parameter of the actual conditions of traffic flow optimization region intersection.
2. being suitable for the different installation site of detector, reasonably according to intersection traffic current sensor installation position situation
Control technology is selected, to enable to be applied even more extensively in regional signal control.Two kinds of detectors are illustrated in Fig. 2
The mode of installation, a kind of entrance being mounted on intersection, a kind of exit being mounted on intersection.It is mounted on the inspection of entrance
The traffic flow situation for reaching intersection can be detected in real time by surveying device, and the intersection using this detector mounting means is compared
It is suitble to using induction control technique of real-time control；It is mounted on exit and obtains detector and can detecte queue length, use is this
The intersection of detector mounting means can use fuzzy control.
3. considering that intersection on the basis of transport need, is with lifting region entirety traffic circulation efficiency within multiple periods
Target, the phase demand of comprehensive analysis Single Intersection formulate regional signal self-adaptive wavelet base strategy, further hand over section
It is through-flow to be overflowed (deadlock) detection and offset optimization, so that it is unstable caused by traffic flow to reduce real-time adaptive system
Property and security risk.
Detailed description of the invention
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 with reference to the accompanying drawing for technical solution used by Summary, key step is such as
Under:
Step 1: initializing signal timing, referring to Single Intersection Webster timing method and regional signal coordinated control plan
Slightly or the signal timing dial after optimization carries out initial configuration to each intersection control signal parameter.
Step 2: each phase traffic data detection passes through the detectors pair such as HD video detection, earth magnetism or induction coil
Traffic flow in each phase carries out demand detection, and whether the phase time supply for providing each traffic flow can satisfy actual traffic stream
The basis of demand determines data.
Step 3: phase demand analysis is based on each phase Traffic flow detecting data, meets the friendship by the offer of timing module
Reference signal timing data in through-flow situation, and on-site signal controller directly generates control signal function in each of intersection
Phase traffic flow, since multi-period fixed timing or induction control mode, multi-period fixation is usually used in signal controller
Its control signal of timing is fixed and invariable in a period, cannot reflect the variation demand of consolidation traffic flow in time, and is incuded
Control is generally used for the single-point control that main and secondary road traffic flow differs greatly, and since its mechanical periodicity is indefinite, is generally unsuitable for
The major function of area coordination control model, multi-model reference is to provide ideal timing information in real time according to Traffic flow detecting data,
The module integrates a variety of real time control algorithms, and selects the control algolithm being best suitable for calculate according to crossing different traffic
Optimal timing information, as shown in Figure 4.So the timing signal parameter of the two is usually inconsistent.
According to the detection data of traffic flow select model algorithm after, calculate corresponding multiphase traffic time allocation and with actual motion
Signal timing dial compares and analyzes, and process is as follows:
1) when the phase green time that timing module calculates is greater than the phase green time of actual motion, then to the phase mark
It infuses (+), i.e. the practical green time of the phase is not able to satisfy 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 calculates is less than the phase green time of actual motion, then to the phase mark
It infuses (-), i.e. the practical green time of the phase has been more than the demand of traffic flow, need to reduce the green time of the phase to avoid can
The green light sky that can occur puts phenomenon.
3) when the phase green time that timing module calculates is equal to the phase green time of actual motion, then to the phase mark
It infuses (0), i.e. the practical green time of the phase can satisfy the demand of traffic flow, not need adjustment phase place green time.
Step 4: Single Intersection period modulation strategy, there are mainly two types of situations: first is that constant cycle stage, second is that adjustment
Cycle stage.
1) condition that need to meet for constant cycle stage is as follows: in a cycle each phase all label for 0), or
(+) and (-) exists, then the split of each phase need to be only adjusted under this period, which is labeled as (U), the intersection
When at least continuous N period indicia is (U), it is determined that meet such situation.
2) as follows for the condition that need to meet of adjustment cycle stage: each phase of a cycle all label for+) or
(-), then this period has been not suitable for the transport need of all phases, needs to increase or reduce cycle time and distributes 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 such situation.
Step 5: regional coordination analysis of strategies, there are mainly two types of situations: first is that the intersection period belonging to inside region is constant
Situation, second is that region internal chiasma mouth period modulation situation.Assuming that it is N that region, which includes intersection quantity, crucial intersection is Ik。
1) period constant situation meets following condition: needing the intersection quantity in adjustment period to be less than inside region and all intersects
The half of mouth quantity, it may be assumed that
2) period modulation situation meets following condition: needing the intersection quantity in adjustment period not less than all friendships inside region
The half of prong quantity need to adjust crucial intersection, it may be assumed that
Step 6: the Split Optimization strategy under the period is constant,
1) for intersection period each phase mark be (0) when, then split scheme is not required to adjust.
2) it when being existed simultaneously for intersection period each phase mark for (+) or (-), is then executed after the M+1 period new
Split scheme, specifically optimize and revise as follows: hypothesized model calculate phase green time be 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 the whole phase difference times and mean allocation for being labeled as (-)
It is corresponding to reduce the phase green time for being labeled as (-), the green time that each phase assignments arrive in labeled as the phase of (+) are as follows:p+For the phase labeled as (+).
Step 7: the 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, which increases or decreases green time,a, minimum green time is gmin。
1) it is directed to the case where whole phase marks are (+), whenThen haveThe crucial intersection period is at this timeWhenHaveThe crucial intersection period is C at this timek_new=Lmax.Remaining intersection period is Ci
=Ck_new, 0 < i < n, i ≠ k, each phase green letter time is provided that
2) it is directed to the case where whole phase marks are (-), works as gm< gm i n, have
Work as gm≥gmin,The crucial intersection period is at this timeRemaining region intersection period is Ci=Ck_new,
0 < i < n, i ≠ k, each phase green letter time are provided that
Step 8: anti-spilled phase green time detection, upstream intersection arbitrary phase are 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 arbitrarily flowing into phase, i.e.,
sikigi(t+1)+Nj(t)≤Nj_max, 0 < i≤p
In formula, si、ki、gi、NjAnd Nj_maxWhen respectively lane saturation volume rate, number of track-lines, phase are effectively green, 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 carries out offset optimization after determining regional cycle and split adjustment, according to
Main line prevailing state is adaptively adjusted, and is considered when downstream intersection has vehicle queue, under the vehicle that upstream is let pass reaches
Swim intersection queuing vehicle time should in downstream queuing vehicle evanescent wave arrival time it is consistent.Accordingly, phase difference is arranged
Condition such as following formula:
In formula, LjFor the length of section j, vjFor the average vehicle speed of section j, λ is the dissipation velocity of wave of queuing vehicle.
Claims (2)
1. a kind of city area-traffic signal adaptive control method for coordinating, which is characterized in that
1) initializing signal timing carries out initial configuration to each intersection control signal parameter；
2) traffic flow in each phase is detected by HD video, earth magnetism or induction coil, acquires traffic flow data；
3) timing module calculates phase green time according to the traffic flow data of acquisition: the phase green time of calculating is greater than practical
When the phase green time of operation, "+" is marked to the phase；The phase green time of calculating is less than the phase green light of actual motion
When 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) determine Single Intersection period modulation strategy: in single intersection, all label is 0 " to each phase in a cycle,
Or the intersection is labeled as " U ", if the intersection at least continuous N period indicia is when existing simultaneously by "+" and "-"
" U ", it is constant which is determined as the period；All label is or "-" each phase of a cycle, which is labeled as
" C ", if the intersection at least continuous N period indicia is " C ", which is determined as period modulation；
5) adjustable strategies regional cycle are determined: if the intersection quantity in adjustment period is needed to be less than whole intersections quantity inside region
Half, it is constant which is determined as the period, enters step 6)；If the intersection quantity in adjustment period is needed to be not less than inside region
The half of whole intersection quantity need to adjust crucial intersection, which is determined as period modulation, enters step 7)；
6) period it is constant under split allocation strategy: intersection period each phase mark be " 0 " when, split scheme is not required to adjust
It is whole；
When intersection period each phase mark is that "+" and "-" exist simultaneously, the split side of optimization is executed after the M+1 period
Case is specifically optimized and revised as follows: the phase green time that model calculates is gm, actual motion phase green time is gf, phase need to
Seeking difference is Δ t=gm-gf, when all phases demand difference and be zero,It is then that the green time of each phase is equal
Weighing apparatus distribution；WhenWhen, then labeled as "-" whole phase difference times and be evenly distributed to the phase labeled as "+"
In position, green time that each phase assignments arrive are as follows:p+For 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, which increases or decreases green time,a, minimum green time is gmin；
If whole phase marks are "+", whenThenIt is crucial at this time to intersect
Mouthful period isWhenHaveThis
The intersection the Shi Guanjian period is Ck_new=Lmax；Remaining intersection period is
Ci=Ck_new, 0 < i < n, i ≠ k,
Each phase green letter time is provided that
If whole phase marks are "-", work as gm< gmin, haveWork as gm≥gnim,The crucial intersection period is at this timeRemaining region intersection period is
Ci=Ck_new, 0 < i < n, i ≠ k,
Each phase green letter time is provided that
2. city area-traffic signal adaptive control method for coordinating as described in claim 1, which is characterized in that further 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 need to meet following condition for arbitrarily flowing into phase,
sikigi(t+1)+Nj(t)≤Nj_max, 0 < i≤p
In formula, si、ki、gi、NjAnd Nj_maxWhen respectively lane saturation volume rate, number of track-lines, phase are effectively green, section current vehicle
Queue length and maximum queue length；
When the conditions set forth above are not met, then have
9) offset optimization strategy carries out offset optimization after determining regional cycle and split adjustment, current according to main line
State is adaptively adjusted, and when downstream intersection has vehicle queue, condition such as following formula is arranged in phase difference:
In formula, LjFor the length of section j, vjFor the average vehicle speed of section j, λ is the dissipation velocity of wave of queuing vehicle.
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