CN106846867A - Signalized intersections green drives speed abductive approach and analogue system under a kind of car networking environment - Google Patents
Signalized intersections green drives speed abductive approach and analogue system under a kind of car networking environment Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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Abstract
Speed abductive approach and analogue system are driven the invention provides signalized intersections green under a kind of car networking environment.When vehicle is travelled to speed induced regions set in advance, central control system can obtain the movement state information (position, speed, acceleration etc.) of the vehicle, and dynamic green driving speed induction in real time is carried out to vehicle as target by intersection with not parking.The speed abductive approach alleviates blocking of the intersection to traffic flow on urban road, reduces vehicle delay, fuel consumption and the pollutant emission of signalized intersections.On this basis, speed induces analogue system under establishing car networking environment with the Multi-Agent simulation instrument Netlogo that increases income, vehicle verifies the feasibility and validity of the pacesetting method with this by the journey time of intersection, fuel consumption and pollutant emission under the traditional driving of simulation comparative analysis and car networking two kinds of environment.
Description
Technical field
The present invention relates to traffic guidance technical field under car networking environment, more particularly to signalized intersections under car networking environment
The modeling and simulation of speed induction.
Background technology
In recent years, with the rising year by year of China's vehicle guaranteeding organic quantity, traffic congestion and vehicle pollutant emission problem day
Benefit is highlighted, and city signal intersection becomes " severely afflicated area " of this problem as " throat " of city road network.Handed in signal
At prong, vehicle often causes idling to travel due to being controlled by it the PERIODIC INTERFERENCE of signal in crossing stop-for-waiting, causes to hand over
Prong traffic efficiency declines and fuel consumption and pollutant emission rise, and have a strong impact on the security in vehicle operation with
Comfortableness.At present, increasing scholar begins to focus on green driving, and green is driven for reducing fuel consumption, implementing country
Energy-saving and emission-reduction strategy, improve environmental quality, advocate the aspects such as citizen's low-carbon (LC) life with long-range economic benefit and social benefit,
The research of United States Department Of Transportation shows that rational path planning can bring 20%~40% oil-saving effect with speed induction, because
This, is induced speed using certain method, it is smoothly passed intersection, it is to avoid unexpected acceleration and deceleration and idling etc. are driven
Behavior is sailed, the traffic efficiency at signalized intersections can be improved and effects of energy saving and emission reduction is played.
Under the promotion of electronic information and wireless communication technology, technology of Internet of things is rapidly developed.Car networking is Internet of Things
Net most active branch, it is intended to make Che-car (V2V), Che-road (V2I) real-time information interaction, realize the overall pool of traffic system
With optimization.Car networking is by the huge Internet of the information structures such as vehicle location, speed and route, by GPS, RFID, biography
The devices such as sensor, camera image treatment, vehicle can complete the collection of itself environment and status information；By internet skill
The various information transfers of itself can be converged to central processing unit by art, all of vehicle；By Information-Based Computing Technology, these are big
The information for measuring vehicle can be analyzed in real-time and process, so as to calculate the optimal travel speed and best route of each car.
The content of the invention
Invention of the invention is signalized intersections green driving speed abductive approach and analogue system under car networking environment.When
Vehicle is travelled during to speed induced regions set in advance, the position of itself, speed and acceleration information can be sent into center
Control unit, centralized control unit according to vehicle number and the queue length that request is sent on each crossing inlet road, according to current
The signal information of intersection is calculated and drives induced velocity to the green of each car, is real-time dynamicly induced, so that
Make vehicle as much as possible not parking by intersection with smooth speed, improve the traffic efficiency at signalized intersections and play section
The effect of energy emission reduction.
The technical scheme is that：Signalized intersections green drives speed induction mathematical modulo under building car networking environment
Type, and set up analogue system by means of the Multi-Agent simulation instrument NetLogo that increases income.
1. signalized intersections green drives as follows the step of speed induces Mathematical Modeling under building car networking environment：
(1) foundation of model is based on it is assumed hereinafter that condition：
1) each signalized intersections is equipped with a centralized control unit (traffic control unit, TCU), for connecing
Receive the state of motion of vehicle and signal information sent with treatment trackside position units；Each entrance driveway speed Control region is equipped with
One trackside position units (location unit, LU), for collecting rolling stock movement state information in speed Control region
And send to centralized control unit；Each vehicle that will enter intersection is all equipped with a board units (vehicle
Unit, VU), for collection vehicle movement state information, and receive the speed induction information of centralized control unit transmission.
2) individual vehicle is sailed into and enters automatic driving mode after control area, board units and trackside position units, in
Heart control unit can real-time Communication for Power, communication delay is within tolerance interval.
3) assume that vehicle will not actively overtake other vehicles or changing Lane in control area.
4) vehicle of each entrance driveway in intersection is reached and obeys Poisson distribution
5) vehicle running surface is flat, and influence of the gravity to vehicle acceleration is negligible.
(2) crossing inlet road speed Induction control domain is defined
Crossing inlet road speed Induction control domain is divided into two large divisions, i.e. speed Control area and at the uniform velocity controlled by the present invention
Since area processed, vehicle be speed Control area to the region before crossing inlet road stop line entering control range, and vehicle passes through
Until sailing out of intersection, this region is referred to as at the uniform velocity control zone to crossing inlet road stop line..
The control area confining method in each crossing inlet road speed Control area is as follows：If the maximal rate of vehicle on section
It is respectively v with minimum speedmaxAnd vmin, the acceleration of vehicle is a, a1, a2Respectively peak acceleration and maximum deceleration is exhausted
To value.For the determination of most short control area, it should make vehicle there is the time enough to carry out speed adjustment under any speed；
The determination in most LCR domain can be led in a cycle C in order to ensure sailing the vehicle in speed Control area into any speed
Cross intersection.The expression formula of speed Control area control area L is as follows：
(3) mathematical modeling
Assuming that vehicle is not parking by intersection after induction, its traveling process is divided into two stages：1. in speed Control
Speed is adjusted to green in area and drives optimization speed；2. vehicle is travelled and by intersecting with optimizing speed at the uniform velocity control zone
Mouthful.The object function of system optimization is to make whole fleet most short by the time of intersection, i.e.,：
In formula：tiIt is vehicle in the running time in speed Control area, s；LGFor vehicle passes through to need the road of traveling inside intersection
Segment length, m；viIt is that induction speed, i.e. green drive optimization speed, m/s.
Vehicle is regarded as a uniform variable motion in the process that speed Control area speed is adjusted, it is fixed according to newtonian motion
Restrain, vehicle is in the time that speed Control area travels：
In formula：viIt is the induction speed of i cars, i.e., green drives optimization speed, m/s；vi0For i cars enter speed Control area
Initial speed, m/s；A is the acceleration of vehicle, m/s2；LiIt is the distance of i spacing stop lines, m.
Above formula can be converted into one on viQuadratic equation with one unknown, solving the equation can draw induction speed vi。
If vehicle slows down or at the uniform velocity travel after induction, induction speed is：
If vehicle gives it the gun after induction, induction speed is：
Here, it should be noted that vehicle in speed Control area might not whole process do variable motion, when speed adjustment
When driving optimization speed to green, you can in advance into the state of uniform motion.
(4) the iterative constrained condition of model
In the case of vehicle continues random arrival, some constraintss in model iterative process are as follows：
1) judge whether " head car " stops.If not parking, do not consider to start the loss time, " the head car " after stop line leads to
Spending the moment should be greater than or equal to green light start time：
T1≥Tg
If " head car " stops, consider to start the loss time, " head car " after stop line should be greater than or be equal to by the moment
Green light start time and startup loss time sum：
T1≥Tg+tl
In formula：T1It is " head car " by the moment of stop line, s；TgFor green light opens bright moment, s；tlTo start the loss time,
s。
2) car passes through moment constraints before and after.Rear car should be greater than being equal to front truck by stop line by the moment of stop line
Moment and minimum time headway sum：
Ti≥Ti-1+ts
In formula, tsIt is minimum time headway, s.
3) green light finish time constraint.Vehicle by being necessarily less than constantly equal to green light finish time：
Ti≤Tg+tg
In formula, tgIt is the green time of the intersection behavior, s.
4) induction speed constraint.The induction speed of model have to be between section minimum speed and the max speed：
vmin≤vi≤vmax
2. the step of setting up car networking analogue system with the Multi-Agent simulation instrument Netlogo that increases income is as follows：
(1) initialization of car networking analogue system
An origin of coordinates is set to analogue system, road, intersection and trackside are drawn on the basis of this origin of coordinates
Building etc., and assign certain mark and certain free stream velocity i.e. maximal rate to divide section grade to section.
(2) generation and initialization of Vehicle Agent
In intersection, each entrance driveway setting carrys out car rate p generations Vehicle Agent (Turtles).By producing an obedience
The equally distributed random number k of [0,100], if k ＜ 100p, generates a Vehicle Agent, does not generate otherwise.Each
Initialize installation is carried out to it according to attributes such as entrance driveway, speed, steerings after Vehicle Agent generation.For example, by intersection four
Individual entrance driveway label 1,2,3,4 successively since northern entrance driveway by clockwise order, while certain steering rule is defined, directly
Behavior 1, it is 2 to turn left, and it is 3 to turn right, then, array [1,1] can just represent that vehicle enters intersection from northern entrance driveway, and will
Straight trip passes through intersection；Equally, array [2,3] represents that vehicle enters intersection and will be turned right in intersection from eastern entrance driveway.
Each entrance driveway left-hand rotation car, straight traffic, the ratio of right-hand rotation car are disposed as 2 in the analogue system：5：3.To Vehicle Agent
Turning process description in intersection is as follows：
If vehicles are reached to turn right and judge position
If vehicle attributes are right-hand rotation
Heading=heading+90 ° of assignment
else
Keep straight trip, assignment heading=heading
If vehicles reach and turn left to judge position
If vehicle attributes are left-hand rotation
Heading=heading-90 ° of assignment
else
Keep straight trip, assignment heading=heading
(3) initialization of intersection signal phase
In the analogue system, the signal phase of intersection is arranged to the Two-phases signal timing of classics, signal period
Overall length is 110 seconds, and the long green light time of each phase is 50 seconds, amber light duration 3 seconds, complete red duration 2 seconds.In the man-machine of analogue system
The phase that intersection is presently in can be intuitively observed on interactive interface by creating two data monitors.
(4) simulation run and the collection of information
Run simulated program according to the content that is set in (1) and (2), the collection of information include journey time, oil consumption and
Discharge, queue length, stop frequency of pollutant etc., the mainly vehicle of present invention research by the journey time of intersection,
Fuel consumption and the information of pollutant emission.
1) journey time
One clock ticks for being used for timing is set in analogue system, and vehicle is when speed Control area is sailed into now
The value assignment t of clockin, the time of control area is initially entered as Vehicle Agent, equally leave at the uniform velocity control zone in vehicle
During domain, then by clock value assignment tout, the time of control area is left as Vehicle Agent, then vehicle is controlled by intersection
The journey time of scope processed is t=tout-tin。
2) oil consumption and discharge
Oil consumption and emission information are calculated by particular model, and the present invention uses classical VT-micro models, the mould
The input of type is the speed and acceleration pair of vehicle, and output is motor vehicle emission and fuel consumption per second.Model table
It is as follows up to formula：
In formula, My,nThe pollutant emission and fuel consumption of (k) for vehicle n；It is velocity vector；To accelerate
Degree vector；PyIt is coefficient matrix, the experimental data according to Oak Ridge National Laboratory is obtained；Y is CO, HC, NOxDischarge and fuel oil
The factors such as consumption；N is vehicle sequence number.
According toThe motor vehicle emission and fuel consumption of whole intersection can be obtained, i.e.,：
In formula,Enter the moment of control area for vehicle；The moment of control area is left for vehicle；I is vehicle sequence
Number；N is the maximum vehicle number in control area.
The invention has the advantages that：
(1) present invention can be with trackside facility and intersection central control system reality using individual vehicle under car networking environment
When information exchange feature, after vehicle sails intersection control area into according to the state of current Intersections and this enter
The queue length in mouth road is real-time dynamicly induced car speed, it is accelerated or decelerate to a rational speed in advance
Angle value simultaneously passes through intersection in direction green time, is brought to a halt at the intersection or the anxious feelings for accelerating so as to avoid vehicle
Condition, saves fuel consumption while decreasing the discharge of pollutant, and the current green advocated is driven with highly important
Meaning.
(2) signalized intersections green drive speed induction analogue system under car networking environment of the present invention based on multiple agent
It is the fluctuation and its produced friendship of intersection car speed under research car networking (information condition) with good expansion
Way system operational effect provides reliability, an efficient Unified frame.Under the framework, can be by adjusting analogue system people
The drive speed induction problem under parameter simulation difference simulating scenes on machine interactive interface.
Brief description of the drawings
Fig. 1 intersections speed induction flow chart
Fig. 2 intersections speed Induction Control scope and control system configuration diagram
Fig. 3 intersections speed guidance model solution procedure flow chart
Fig. 4 analogue system human-computer interaction interfaces
Specific embodiment
The present invention will be described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, under car networking environment, when vehicle enters pre-set speed induced regions, vehicle-mounted list
Unit sends the information such as itself position, speed, acceleration, steering in real time from trend trackside position units, and trackside position units connect
The information package of all vehicles on the entrance driveway is simultaneously sent to central control system by information that the carrier unit that returns the vehicle to the garage and knock off is sent.Control at center
System processed receives these information that the position units on each entrance driveway send, the signal phase information according to current intersection
(remaining long green light time or red light duration in all directions) calculates induced velocity with reference to the queue length of current entrance driveway, and controls
Individual vehicle processed makes the adjustment of acceleration or deceleration.
As shown in Fig. 2 be intersection speed Induction Control system architecture schematic diagram, in intersection speed Induction control domain
Centralized control unit is inside provided with, trackside position units are designed near each entrance driveway, vehicle-mounted list is fitted with individual vehicle
Unit.The velocity controlled zone of setting is in region in oval dotted line frame, vehicle is switched to certainly after velocity controlled zone is sailed into
Dynamic driving model.
As shown in figure 3, the intersection speed guidance model solution procedure is as follows：
(1) judge whether " head car " stops.If parking, consider to start the loss time；Otherwise, then do not consider to start loss
Time；
(2) according to relevant constraint, determine that i-th car green light passes through moment Ti；
(3) i-th induction speed v of car is calculatedi；
(4) i=i+1, repeat 2), 3) step, until green time terminates.
After human-computer interaction interface shown in Fig. 4 carries out simulating scenes parameter setting, pressed by the setup set on interface
Button carries out analogue system initialization, then proceeds by l-G simulation test by clicking on go buttons, during l-G simulation test is carried out
Can again tap on this button and then emulate temporarily by data monitoring window, two dimension view and drawing Real Time Observation simulation run situation
Stop.Label 1 show simulating scenes interface, can make differentiation to road and trackside building with different colors；Shown in label 2
It is information shift knobs, it can control the switching of car networking environment and traditional driving environment；Label 3 show works as
The reporter of front signal phase, reporter is shown as 1 when current demand signal phase is opened, and 0 is then shown as during closing；Shown in label 4
By the counting of parking before current entrance driveway stop line；The oil consumption curve of each entrance driveway Real-time Collection is shown in label 5.
Implementation process of the invention described in detail above, but the present invention be not limited to it is specific in above-mentioned implementation method
Details, in range of the technology design of the invention, concrete details can be to change what is replaced, such as can be by adjusting emulation system
The drive speed induction problem under parameter simulation difference simulating scenes on system human-computer interaction interface.
Claims (10)
1. signalized intersections green drives speed abductive approach under a kind of car networking environment, it is characterised in that mainly pass through three classes
Control unit --- board units, roadside unit and centralized control unit, are controlled by individual vehicle and trackside facility and center
The real-time information interaction of system, it is achieved thereby that to the dynamic induction of speed, the speed for making vehicle as much as possible to smooth is led to
Intersection is crossed, the traffic efficiency at signalized intersections is improved and is played the effect of energy-saving and emission-reduction.The work of the speed guidance model
Flow is：
(1) vehicle enters speed Induction control domain
Speed Induction control domain is divided into two large divisions by the present invention, i.e. speed Control area and at the uniform velocity control zone, and vehicle is from entrance
Control range starts the region to before crossing inlet road stop line for speed Control area, and vehicle is stopped by crossing inlet road
Until sailing out of intersection, this region is referred to as at the uniform velocity control zone to line.It should be noted that it is assumed here that individual vehicle sails control into
Enter the pacesetting control that automatic driving mode, i.e. individual vehicle obey central control system completely after region.
(2) information exchange is adjusted with speed
After vehicle enters pre-set speed induced regions, board units (vehicle unit, VU) are from trend road
Side position unit (location unit, LU) sends the information such as itself position, speed, acceleration, steering, trackside position in real time
Unit is put to receive the information sent of board units and the information package of all vehicles on the entrance driveway is sent into center control system
System (traffic control unit, TCU).Central control system receives the letter that trackside position units send on each entrance driveway
Cease, the signal phase information (remaining long green light time or red light duration in all directions) and entrance driveway according to current intersection
The induction speed real-time release is given individuality by queue length so as to calculate the not parking green drive speed by intersection
Vehicle.It should be noted that speed adjustment process only carried out in speed Control area, when vehicle reach green drive speed it
At the uniform velocity drive through intersection according to the speed afterwards.
2. computational methods of vehicle guidance speed according to claim 1, it is characterised in that use Newton's laws of motion, will
Motion process of the vehicle in speed Control area regards a uniform variable motion as, using the car speed, acceleration that collect
Information, according to Current vehicle apart from stop line distance and remaining green light or red time, it is counter to solve that the vehicle is not parking to be passed through
The green drive speed v of intersectioni。
3. according to the claims 1 speed guidance model workflow, to the solution procedure of the speed guidance model
It is as follows：
(1) judge whether " head car " stops.If parking, consider to start the loss time；Otherwise, then when not considering to start loss
Between；
(2) according to the constraints such as minimum time headway constraints, the minimum and maximum speed limit condition in section between front and rear car, really
Fixed i-th car green light passes through moment Ti；
(3) green for calculating i-th car drives speed vi；
(4) i=i+1, repeat 2), 3) step, until green time terminates.
4. on the basis of speed guidance model described in the claims 3 is solved, the determination methods on " head car " are as follows：When
When i-th car reaches control area, discovery does not have time enough by intersection within the current demand signal cycle, now i-th
The vehicle of front of the host will be as a fleet by intersection, while being carried out using i-th car as " the head car " of next fleet
Pacesetting in the next signal cycle.
5. on the basis of signalized intersections speed guidance model under the car networking environment described in the claims 1, with opening
Source Multi-Agent simulation instrument Netlogo establishes analogue system, for evaluating the validity of the speed abductive approach.Its feature
It is, the main simulation realized by three class intelligent body Patches, Turtles, Observer to real world, Patches intelligence
Energy body represents road network, and Turtles intelligent bodies represent individual vehicle, Observer intelligent body representative information service systems.Emulation system
Uniting mainly includes the generation and initialization, the generation of Vehicle Agent and initialization of road network, the setting of intersection signal phase, imitates
True operation and the collection of information and transmission.On human-computer interaction interface in simulated environment, can be by setting on interface
Setup buttons carry out analogue system initialization, then proceed by l-G simulation test by clicking on go buttons, are carried out in l-G simulation test
During can be by data monitoring window, two dimension view and drawing Real Time Observation simulation run situation.
6. in analogue system according to claim 5 Vehicle Agent generation and initialization, it is characterised in that can be with root
Vehicle Agent (Turtles) is generated according to the car rate p that comes of setting in specific coordinate position according to needs, and it is certain to assign its
Attribute, the acceleration, deceleration, import track and steering including vehicle etc..
7. in analogue system according to claim 5 intersection signal phase setting, it is characterised in that each phase of setting
Green light, red light and amber light duration, Vehicle Agent (Turtles) determine that next step should according to current entrance driveway signal lamp situation
The operation of the execution：If current entrance driveway signal lamp is green, present speed is kept to pass through intersection；If current import
Road signal lamp is red or yellow, then stopped before stop line.Whether subsequent vehicle determines oneself according to above there is car
Speed, if above there is car, stops, if without car, continuing with former speed row according to the deceleration rule for setting behind front truck
Sail.
8. the collection of artificial intelligence and transmission in analogue system according to claim 5, it is characterised in that simulation run
The status information that Cheng Zhongke is run with Real-time Collection car networking analogue system, when mainly passing through the stroke of intersection including vehicle
Between, stand-by period, queue length, stop frequency of the vehicle before stop line etc., calculated based on these state of motion of vehicle information
Vehicle real-time fuel consumption and pollutant emission.
9. the collection of the journey time that vehicle according to claim 8 passes through intersection, the present invention sets in analogue system
Put a clock ticks for timing, it is characterised in that vehicle assigns the value of clock when speed Control area is initially entered
It is worth and enters intersection time t to Vehicle Agentin, equally after vehicle sails out of intersection, then clock value is assigned to vehicle intelligence
Energy body leaves intersection time tout, then calculate journey time t=t of the vehicle by intersection control rangeout-tin。
10. the collection of the information such as speed, the acceleration that vehicle according to claim 8 passes through intersection, the present invention is used
Classical VT-micro models, it is characterised in that the input of the model is the movement velocity and acceleration of vehicle, and output is unit
The motor vehicle fuel consumption and pollutant emission of time.Model expression is as follows：
In formula, My,nThe pollutant emission and fuel consumption of (k) for vehicle n；It is velocity vector；For acceleration to
Amount；PyIt is coefficient matrix, the experimental data according to Oak Ridge National Laboratory is obtained；Y is CO, HC, NOxDischarge and fuel consumption
Etc. the factor；N is vehicle sequence number.
Then basisThe motor vehicle emission and fuel consumption of whole intersection can be obtained.
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