CN106960584A - A kind of traffic control method and device of self adaptation crossroad traffic signal lamp - Google Patents
A kind of traffic control method and device of self adaptation crossroad traffic signal lamp Download PDFInfo
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Abstract
The invention discloses a kind of traffic control method and device of self adaptation crossroad traffic signal lamp, this method comprises the following steps：Step 1：Vehicle fleet size on each track of real-time reception；Step 2：According to the vehicle fleet size on each track, calculate the current coefficient in each track on current crossing, according to each track current coefficient magnitude and combine phase conflicts principle, it is determined that the current order of current crossing phase；Step 3：According to the vehicle fleet size in the vehicle fleet size track corresponding with next crossing in track in clearance phase, it is determined that the green time of phase where each track, according to the current order of phase, determines the green time of each combinatorial phase, implements traffic control successively；The lasting accumulation of congestion, and the preferentially wagon flow in evacuation congestion direction can be slowed down under supersaturated traffic behavior, the extension of congestion is effectively alleviated, and can also effectively improve green time utilization rate in unsaturated state.
Description
Technical field
The invention belongs to traffic signalization field, more particularly to a kind of traffic control of self adaptation crossroad traffic signal lamp
Method and device.
Background technology
The Area Traffic Control System with good operational effect having now been developed in the world at present is seldom, including
Including TRANSYT, SCOOT, SCATS, a small number of developed countries such as Britain, the U.S., Australia are concentrated mainly on.These traffic controls
System processed can obtain pedestrian in preferable operational effect, but the imperfection of domestic relevant traffic regulation, urban road abroad
Vehicle can not be well adapted for the current situation of traffic in China city often in unmanageable hybrid state, external system,
The implementation result of the country is simultaneously imperfect.
In recent decades, artificial intelligence, theory of optimal control etc. apply to traffic zone and coordinated in control, obtain certain
Achievement in research.But this kind of control method has relatively good applied to ripe perfect road traffic system in theory
Effect, but for the actual road conditions in most cities, the control facility that these methods are used is more, and systematic parameter input is more,
Practice cost is too high, and algorithm complex is high, it is difficult to the change of real-time response traffic flow.Such algorithm is actual in engineering
It is excessively complicated in, it is impossible to meet the requirement of engineering of actual traffic optimal control well.
It is many at present by the way of single spot optimization and the green ripple control of main line in the traffic control optimization of intersection, the above
Control mode has certain effect to the traffic optimization on some direction on some part or main line, but is difficult to lift road network entirety
Traffic efficiency, particularly with the situation of the supersaturated magnitude of traffic flow, only considered local optimization may aggravate the feelings of traffic congestion
Condition.
The content of the invention
The invention provides a kind of traffic control method and device of self adaptation crossroad traffic signal lamp, it is intended that
Overcome the problem of overall traffic efficiency of road network is not high in the prior art.
A kind of traffic control method of self adaptation crossroad traffic signal lamp, comprises the following steps：
Step 1：Vehicle fleet size on the current crossing of real-time reception and adjacent next crossing Shang Ge tracks；
Step 2：According to the vehicle fleet size on each track, the current coefficient in each track on current crossing is calculated, according to each
The current coefficient magnitude in track simultaneously combines phase conflicts principle, it is determined that the current order of current crossing phase；
Step 3：According to the vehicle fleet size in the vehicle fleet size track corresponding with next crossing in track in clearance phase, it is determined that often
The green time of phase where individual track, according to the current order of phase, determines the green time of each combinatorial phase, implements to hand over successively
Logical control；
Wherein, the current coefficient in current crossing Shang Ge tracks is p：P=N × ((1-o)+e)；N represents that current crossing is got on the bus
The queuing vehicle quantity in road, o represents the lane occupancy ratio in same sex track on next crossing adjacent with current road junction roadway, e tables
Show track green wave band coefficient；
NXVehicle number on expression next crossing adjacent with current road junction roadway on same sex track
Amount, d represents the average length of vehicle, and g represents the average spacing between vehicle, and L represents lane length.
Track refers to the connatural track of same direction, if during there are multiple same sexes and runway, with multiple tracks
Vehicle fleet size average value is as the vehicle fleet size on current lane, and phase refers to the phase in only one of which clearance direction, track and phase
Position is one-to-one, and combinatorial phase is the phase combination that single direction is let pass.
Further, the track green time is t：
T=tSULT+NT×H
Wherein, tSULTRepresent after red light becomes green light, the time that vehicle launch is delayed, when H represents saturation headstock
Away from, refer to vehicle under saturation traffic behavior, vehicle by vehicle its length and convoy spacing apart from when required time；
NTRepresent the vehicle fleet size that plan of the corresponding phase of current lane in green time is let pass, NT=min (mque+
marr,macc)；
mqueRepresent the queuing vehicle quantity of current lane, marrThe vehicle that may be reached during representing current lane green light,
Vehicle arriving amt according to a upper cycle estimated, maccRepresent same sex track corresponding with current lane on next crossing
Admissible vehicle fleet size,
Further, the vehicle m that may be reached during the green lightarr：
Wherein, t0For initial green light time, t0=tSULT+N0× H, N0For the vehicle number m being likely to be breached during setting green lightarr
The initial clearance vehicle fleet size obtained when=0, N0=min (mque,macc)；tredFor a red time length before current lane,
N represents the vehicle fleet size reached on current lane in a preceding red time.
Further, the determination process of the green time of each current phase is as follows：
Step C0：The current coefficient of all phases is calculated, and is ranked up according to descending order, phase row is obtained
Sequence queue；
Step C1, according to the current order of phase, chooses the maximum phase of current coefficient as master phase M, meanwhile, from phase
In round-robin queue, two the matched-phases Q1 and Q2 matched with master phase M are selected, combinatorial phase (M, Q1) and (M, Q2) is obtained；
Step C2, using in matched-phase Q1 and Q2 the larger phase of correspondence lane coefficient as secondary phase Q, another
As standby phase Q ', master phase M and the track green time where time phase difference (T are calculatedM-TQ), if (TM-TQ) small
In defined minimum green time, then into step C2.1, otherwise into step C2.2；
Step C2.1, makes combinatorial phase green light let pass time T equal to TM, phase M and phase Q let pass the time for T jointly, and
Phase M and phase Q are removed into out sequencing queue, into step C3；
Step C2.2, makes combinatorial phase green light let pass time T equal to TQ, phase M and phase Q let pass the time for T, entered jointly
Enter step C2.3；
Step C2.3, calculates alternative phase Q ' green time TQ', by TMWith the difference (T of T in C2.2M- T) and TQ’
Compare, take higher value max ((TM- T), TQ') as combinatorial phase green light clearance time T ', phase M is put jointly with phase Q '
Row T ' time span, and by M, Q, Q ' phase sequencing queue is removed, into step C3；
Step C3：Whether be empty, if it is empty, return to step C0 restarts entirely to follow if judging track phase sequencing queue
Ring；If not empty, then the current coefficient of all phases is recalculated, and the phase in current phase sequencing queue is carried out again
Sequence, returns again to step C1.
A kind of traffic control device of self adaptation crossroad traffic signal lamp, including：
Receiver module, for traffic data of the real-time reception from car-mounted terminal and crossing traffic signal pickup assembly；
Processing module, the current coefficient for calculating each track corresponding phase, and current phase principle is combined, determine traffic
The current order of signal lamp and time；
Self-adaptive control module, for the current order of traffic lights obtained according to the processing module and time life
Traffic lights are controlled into the auto-adaptive controling signal of traffic lights, and based on the auto-adaptive controling signal.
Further, the processing module includes data capture unit, computing unit and allocation unit；
The data capture unit, for obtaining each track in current phase in the traffic data that is gathered from receiver module
On vehicle fleet size；
The computing unit, for the vehicle data according to each track, obtains the current coefficient of each track corresponding phase；
The allocation unit, in unit period, being led to according to the current coefficient of each phase in track to each phase
The distribution of row order and transit time.
Beneficial effect
The invention provides a kind of traffic control method and device of self adaptation crossroad traffic signal lamp, this method include with
Lower step：Step 1：Vehicle fleet size on the current crossing of real-time reception and adjacent next crossing Shang Ge tracks；Step 2：Foundation
Vehicle fleet size on each track, calculates the current coefficient in each track on current crossing, the current coefficient magnitude according to each track
And phase conflicts principle is combined, it is determined that the current order of current crossing phase；Step 3：Vehicle number according to track in clearance phase
The vehicle fleet size in amount track corresponding with next crossing, it is determined that the green time of phase where each track, passes through suitable according to phase
Sequence, determines the green time of each combinatorial phase successively, implements traffic control；Using the vehicle fleet size on track, and calculate each car
The current coefficient of road corresponding phase, generates the traffic control scheme at current crossing, can slow down under supersaturated traffic behavior and gather around
Stifled lasting accumulation, and the preferentially wagon flow in evacuation congestion direction, effectively alleviate the extension of congestion.Also can in unsaturated state
Enough effectively improve green time utilization rate.
Brief description of the drawings
Fig. 1 is phase twin nuclei schematic diagram；
Fig. 2 is the schematic flow sheet of the method for the invention；
Fig. 3 is the topological structure schematic diagram of emulation road network；
Fig. 4 is the lower maximum queue length contrast schematic diagram of supersaturation；
Fig. 5 is the lower averagely queue length schematic diagram of supersaturation；
Fig. 6 is journey time schematic diagram.
Embodiment
Below in conjunction with accompanying drawing and example, the present invention is described further.
As shown in Fig. 2 a kind of traffic control method of self adaptation crossroad traffic signal lamp, comprises the following steps：
Step 1：Vehicle fleet size on the current crossing of real-time reception and adjacent next crossing Shang Ge tracks；
Step 2：According to the vehicle fleet size on each track, the current coefficient in each track on current crossing is calculated, according to each
The current coefficient magnitude in track simultaneously combines phase conflicts principle, it is determined that the current order of current crossing phase；
Phase conflicts principle is obtained from the phase twin nuclei schematic diagram in Fig. 1.
Step 3：According to the vehicle fleet size in the vehicle fleet size track corresponding with next crossing in track in clearance phase, it is determined that often
The green time of phase where individual track, according to the current order of phase, determines the green time of each combinatorial phase, implements to hand over successively
Logical control；
Wherein, the current coefficient in current crossing Shang Ge tracks is p：P=N × ((1-o)+e)；N represents that current crossing is got on the bus
The queuing vehicle quantity in road, o represents the lane occupancy ratio in same sex track on next crossing adjacent with current road junction roadway, e tables
Show track green wave band coefficient；
NXVehicle number on expression next crossing adjacent with current road junction roadway on same sex track
Amount, d represents the average length of vehicle, and g represents the average spacing between vehicle, and L represents lane length.
Track refers to the connatural track of same direction, if during there are multiple same sexes and runway, with multiple tracks
Vehicle fleet size average value is as the vehicle fleet size on current lane, and phase refers to the phase in only one of which clearance direction, track and phase
Position is one-to-one, and combinatorial phase is the phase combination that single direction is let pass.
The track green time is t：
T=tSULT+NT×H
Wherein, tSULTRepresent after red light becomes green light, the time that vehicle launch is delayed, when H represents saturation headstock
Away from, refer to vehicle under saturation traffic behavior, vehicle by vehicle its length and convoy spacing apart from when required time；
NTRepresent the vehicle fleet size that plan of the corresponding phase of current lane in green time is let pass, NT=min (mque+
marr,macc)；
mqueRepresent the queuing vehicle quantity of current lane, marrThe vehicle that may be reached during representing current lane green light,
Vehicle arriving amt according to a upper cycle estimated, maccRepresent same sex track corresponding with current lane on next crossing
Admissible vehicle fleet size,
Further, the vehicle m that may be reached during the green lightarr：
Wherein, t0For initial green light time, t0=tSULT+N0× H, N0For the vehicle number m being likely to be breached during setting green lightarr
The initial clearance vehicle fleet size obtained when=0, N0=min (mque,macc)；tredFor a red time length before current lane,
N represents the vehicle fleet size reached on current lane in a preceding red time.
The determination process of the green time of each current phase is as follows：
Step C0：The current coefficient of all phases is calculated, and is ranked up according to descending order, phase row is obtained
Sequence queue；
Step C1, according to the current order of phase, chooses the maximum phase of current coefficient as master phase M, meanwhile, from phase
In round-robin queue, two the matched-phases Q1 and Q2 matched with master phase M are selected, combinatorial phase (M, Q1) and (M, Q2) is obtained；
Step C2, using in matched-phase Q1 and Q2 the larger phase of correspondence lane coefficient as secondary phase Q, another
As standby phase Q ', master phase M and the track green time where time phase difference (T are calculatedM-TQ), if (TM-TQ) small
In defined minimum green time, then into step C2.1, otherwise into step C2.2；
Step C2.1, makes combinatorial phase green light let pass time T equal to TM, phase M and phase Q let pass the time for T jointly, and
Phase M and phase Q are removed into out sequencing queue, into step C3；
Step C2.2, makes combinatorial phase green light let pass time T equal to TQ, phase M and phase Q let pass the time for T, entered jointly
Enter step C2.3；
Step C2.3, calculates alternative phase Q ' green time TQ', by TMWith the difference (T of T in C2.2M- T) and TQ’
Compare, take higher value max ((TM- T), TQ') as combinatorial phase green light clearance time T ', phase M is put jointly with phase Q '
Row T ' time span, and by M, Q, Q ' phase sequencing queue is removed, into step C3；
Step C3：Whether be empty, if it is empty, return to step C0 restarts entirely to follow if judging track phase sequencing queue
Ring；If not empty, then the current coefficient of all phases is recalculated, and the phase in current phase sequencing queue is carried out again
Sequence, returns again to step C1.
A kind of traffic control device of self adaptation crossroad traffic signal lamp, including：
Receiver module, for traffic data of the real-time reception from car-mounted terminal and crossing traffic signal pickup assembly；
Processing module, the current coefficient for calculating each track corresponding phase, and current phase principle is combined, determine traffic
The current order of signal lamp and time；
Self-adaptive control module, for the current order of traffic lights obtained according to the processing module and time life
Traffic lights are controlled into the auto-adaptive controling signal of traffic lights, and based on the auto-adaptive controling signal.
Further, the processing module includes data capture unit, computing unit and allocation unit；
The data capture unit, for obtaining each track in current phase in the traffic data that is gathered from receiver module
On vehicle fleet size；
The computing unit, for the vehicle data according to each track, obtains the current coefficient of each track corresponding phase；
The allocation unit, in unit period, being led to according to the current coefficient of each phase in track to each phase
The distribution of row order and transit time.
Example one
With road network shown in Fig. 3 for example, provided with crossing A, crossing is B downstream, and A to B is straight trip.Between AB away from
From being 200 meters, it is currently to have 10 cars, the crossing B cars on 20, A to B Through Lane to wait the vehicle number from A to B
The current corresponding signal lamp in road is green, and remaining time is 30 seconds (tgreen=30s).If average speed is 10 meters during normally travel
(v per secondavg=10m/s), average length of car is 4.5 meters (d=4.5m), and average traffic queuing spacing is 2 meters (g=2m).
The green wave band coefficient that A crossings are kept straight on to B crossings is calculated first, by formulaMeter
Calculate,
A crossings are calculated to the lane occupancy ratio of the Through Lane at B crossings, by formulaCalculate,
The key coefficient of crossing A to crossing B straight trip phases is calculated, is calculated by formula p=N × ((1-o)+e),
P=20 × ((1-0.325)+0.5)=23.5.That is the key coefficient of crossing A to crossing B straight trip phases.
The key coefficient computational methods of other phases duplicate.
The phase let pass according to the sequence of the key coefficient of all phases and previous cycle, determines next stage
Two phases let pass.Clearance phase is determined according to algorithm flow.
It is determined that after clearance phase, calculating clearance green time.
Illustrate the computational methods of green time below.
If the signal lamp red light duration in A crossings to B crossings straight trip direction is 40 seconds (tred=40s), enter during red light
Entering vehicle of the A crossings wait straight trip to B crossings has 5, if saturation headway is 2.2 seconds each cars (H=2.2s/veh), opens
Dynamic delay is 5 seconds (tSULT=5s)
Estimate the open ended vehicle fleet size of Through Lane at A crossings to B crossings, be by formulaCalculate,Initial clearance vehicle fleet size is by formula N=min (mque+marr,macc) calculate, now
If the vehicle fleet size that may be reached during green light is 0 (marr=0), and N0=min (20+0,20.77)=20, car of initially letting pass
Number is 20.
Initial clearance green time is by formula t0=tSULT+N0× H is calculated, t0=5s+20 × 2.2s=49s.
The vehicle fleet size that may be reached during estimating green lightThen according to public affairs
Formula N=min (mque+marr,macc) calculate the vehicle fleet size to be let pass of determination, N=min (20+6.125,20.77)=20.77.
Finally by formula t=tSULTThe green time t=5s+20.77 that+N × H calculating is determined × 2.2s=50.694s, four
House five enter green time be 51 seconds.
The method that explanation distributes clearance phase green time as an example below.If minimum green time is 15 seconds (Tmin=
15s)。
In step C1, being located at the phase that in sequencing queue and key coefficient ranked first is【Kept straight on to north in south】, then with
The secondary phase of matching be【Turned left to west in south】With【Kept straight on to south in north】.If the two time phase is all located in sequencing queue, and
【Turned left to west in south】Key coefficient ratio【Kept straight on to south in north】Key coefficient it is big.Then master phase M is【Kept straight on to north in south】, secondary phase
Position Q be【Turned left to west in south】, another time phase Q ' is【Kept straight on to south in north】.
By step C2, for example, the 50 seconds (T of master phase M green times calculatedM=50s), secondary phase Q green times are
30 seconds (TQ=30s), TM-TQ=50s-30s=20s<Tmin=15s show that next step should carry out step C2.2, master phase M
Clearance green time is 30 seconds (T=T jointly with secondary phase QQ=30s), step C2.3 is arrived after 30 seconds, clearance phase is principal phase
Position M and another phase Q ', if the Q ' now calculated according to green time computational methods clearance green time is 25 seconds (TQ'
=25s), by the formula T'=max (T in step C2.3M-T,TQ') T'=max (50s-30s, 25s)=25s is calculated, will
M, Q, Q ' sequencing queue is removed out, and master phase M is let pass 15 seconds with another phase Q '.Step C3 is carried out after 15 seconds, is sentenced
Whether disconnected sequencing queue is empty, and if sky, new round circulation is restarted to step C0, if being not sky, to step C1.
Emulation testing is carried out using the VISSIM traffic simulation softwares of German PTV companies, and programmed by VISSIM COM
Interface connection Microsoft .net development platforms are controlled algorithm design and development.
To take into full account the interaction of intersection group, the emulation road network of design one, Fig. 3 merely illustrates emulation road network
Topological structure, the road of actual emulation road network sets and does not have such high symmetry.Wagon flow is driven into from road network surrounding, root
Different vehicle flowrates are designed according to different traffic to be emulated.Flow design includes supersaturation, and low saturation and in short-term peak are flowed
Three kinds of amount.It is 5 seconds to set the start-up lost time time, and saturation headway is 2.2s/veh (veh：), minimum green time is set
For 15 seconds, maximum green time was 60 seconds, and other parameters use VISSIM default settings.
When evaluating crossing, choose 1,2,3, the evaluating data at No. 4 four crossings.Simulation time is 0-4200 seconds,
Vehicle needs a period of time to enter road network when VISSIM emulation starts, it is difficult to accurate simulation actual conditions, so 0-600 seconds are commenting
Do not consider during valency, with 600 seconds for statistics time interval.Emulation basic parameter is VISSIM default settings.
Queue length detector is provided with when emulating herein at each crossing, and it is detection starting point to choose upper left corner S points, at random
It is detection terminal to choose A, B, C, D tetra- points, for detect the vehicle from S points when arriving separately at four terminals it is required
Journey time.Herein using queue length as main evaluation index, control effect of the adaptive algorithm to congestion is evaluated with this, and join
According to lifting effect of the journey time parser to overall road network operational efficiency.
Traffic Evaluation in the case of supersaturation
It is 800 to set the link entry flow in the case of supersaturation, the following is maximum under fixed timing and Self Adaptive Control
Queue length, the contrast of average queue length, respectively as shown in Figure 4 and Figure 5.In queuing situation map, abscissa is simulation time
Section, has 1 in each period, a data queued at 2,3,4 four crossings respectively, similarly hereinafter.
The effect of optimization of adaptive algorithm is investigated according to emulation period and crossing respectively, period effect of optimization refers to specific time period
Under, the queue length effect of optimization average value at four crossings, the effect of optimization that crossing effect of optimization refers to the crossing all periods is put down
Average.
The supersaturated effect of optimization of lower queue length period (%) of table 1
The lower queuing queue crossing effect of optimization (%) of the supersaturation of table 2
Maximum queue length can reflect the order of severity of congestion peak time vehicle accumulation when the magnitude of traffic flow is supersaturated, put down
Equal queue length reflects the overall congestion of traffic in a period of time.From maximum queue length and the number of average queue length
According to chart as can be seen that under supersaturated traffic behavior, set forth herein self-adaptation control method effectively control gathering around for vehicle
Stifled, particularly with the 3rd crossing, fixed timing according to actual conditions due to that can not make the adjustment of signal lamp, irrational shunting
Cause to queue up and accumulate, form serious traffic congestion, and adaptive algorithm is then preferably suppressed and evacuated to congestion.
Low saturation and the Traffic Evaluation in the case of peak flow in short-term
Link entry flow is 200 under low saturated conditions, and the flow input in the case of peak flow is random by program in short-term
Generation, flow is stepped up to 800, then gradually reduced again on a time period from average 400.Optimization effect obtained by simulation result
Fruit is as shown in Table 3 and Table 4.
The low saturation of table 3 and average queue length period effect of optimization under peak flow in short-term
The low saturation of table 4 and average queue length crossing effect of optimization under peak flow in short-term
From table 3 and table 4 as can be seen that self adaptation traffic control algorithm not only can effectively suppress to gather around in the case of supersaturation
Stifled, in the case of low saturation and in short-term peak flow, improvement of the adaptive algorithm to vehicle queue equally has positive effect,
Effect of optimization is general more than 30%.The generation of the phenomenons such as sky is avoided under low flow condition, it is gradually increased in vehicle flowrate
During, the flexible allocation that can be also let pass by each crossing to vehicle flowrate reduces road network and the possibility of heavy congestion occurs.
Overall road grid traffic status evaluation
Queue length can effectively reflect the situation of traffic congestion, but for driver and conductor, journey time is actual
Most concerned data during trip, the emulation data of circuit are counted the following is four journey times, and these circuits contain emulation road
Most intersection in net, can reflect the traffic of overall road network.
The journey time effect of optimization of table 5
Transverse axis represents each measurement circuit in Fig. 6, and the bar chart of every circuit from left to right represents supersaturated flow respectively, short
When peak flow, the travel time data under low saturation volume.The simulation experiment result shows, each bar circuit under Self Adaptive Control
Journey time has shortened, and journey time averagely reduces 32%, and part circuit reduces more than 50%, i.e. journey time only
There is half during timing controlled.It can thus be seen that self-adaptation control method is effectively improved while traffic congestion is controlled
The effective rate of utilization of road network entirety traffic traffic efficiency and green time.
The above embodiments are merely illustrative of the technical solutions of the present invention rather than its limitations, although with reference to above-described embodiment pair
The present invention is described in detail, and those of ordinary skill in the art should be understood：Still can be to the specific of the present invention
Embodiment is modified or equivalent, and any modification or equivalent without departing from spirit and scope of the invention,
It all should cover among scope of the presently claimed invention.
Claims (6)
1. a kind of traffic control method of self adaptation crossroad traffic signal lamp, it is characterised in that comprise the following steps：
Step 1：Vehicle fleet size on the current crossing of real-time reception and adjacent next crossing Shang Ge tracks；
Step 2：According to the vehicle fleet size on each track, the current coefficient in each track on current crossing is calculated, according to each track
Current coefficient magnitude and combine phase conflicts principle, it is determined that the current order of current crossing phase；
Step 3：According to the vehicle fleet size in the vehicle fleet size track corresponding with next crossing in track in clearance phase, it is determined that each car
The green time of phase where road, according to the current order of phase, determines the green time of each combinatorial phase, implements traffic control successively
System；
Wherein, the current coefficient in current crossing Shang Ge tracks is p：P=N × ((1-o)+e)；N represents track on current crossing
Queuing vehicle quantity, o represents the lane occupancy ratio in same sex track on next crossing adjacent with current road junction roadway, and e represents car
Road green wave band coefficient；
NXVehicle fleet size on expression next crossing adjacent with current road junction roadway on same sex track, d
The average length of vehicle is represented, g represents the average spacing between vehicle, and L represents lane length.
2. according to the method described in claim 1, it is characterised in that the track green time is t：
T=tSULT+NT×H
Wherein, tSULTRepresent after red light becomes green light, the time that vehicle launch is delayed, H represents saturation headway, is
Refer to vehicle under saturation traffic behavior, vehicle by vehicle its length and convoy spacing apart from when required time；
NTRepresent the vehicle fleet size that plan of the corresponding phase of current lane in green time is let pass, NT=min (mque+marr,
macc)；
mqueRepresent the queuing vehicle quantity of current lane, marrThe vehicle that may be reached during representing current lane green light, foundation
The vehicle arriving amt in a upper cycle estimated, maccRepresent that same sex track corresponding with current lane can connect on next crossing
The vehicle fleet size received,
3. method according to claim 2, it is characterised in that the vehicle m that may be reached during the green lightarr：
Wherein, t0For initial green light time, t0=tSULT+N0× H, N0For the vehicle number m being likely to be breached during setting green lightarrWhen=0
Obtained initial clearance vehicle fleet size, N0=min (mque,macc)；tredFor a red time length before current lane, n is represented
The vehicle fleet size reached on current lane in a preceding red time.
4. according to the method in claim 2 or 3, its feature is in the determination process of the green time of each current phase is as follows：
Step C0：The current coefficient of all phases is calculated, and is ranked up according to descending order, phase sequence team is obtained
Row；
Step C1, according to the current order of phase, chooses the maximum phase of current coefficient as master phase M, meanwhile, from phase loop
In queue, two the matched-phases Q1 and Q2 matched with master phase M are selected, combinatorial phase (M, Q1) and (M, Q2) is obtained；
Step C2, the larger phase of correspondence lane coefficient is used as secondary phase Q, another conduct using in matched-phase Q1 and Q2
Standby phase Q ', calculates master phase M and the track green time where time phase difference (TM-TQ), if (TM-TQ) it is less than rule
Fixed minimum green time, then into step C2.1, otherwise into step C2.2；
Step C2.1, makes combinatorial phase green light let pass time T equal to TM, phase M and phase Q let pass the time for T jointly, and by phase
Position M and phase Q removes out sequencing queue, into step C3；
Step C2.2, makes combinatorial phase green light let pass time T equal to TQ, phase M and phase Q lets pass the time for T jointly, into step
Rapid C2.3；
Step C2.3, calculates alternative phase Q ' green time TQ', by TMWith the difference (T of T in C2.2M- T) and TQ' do ratio
Compared with taking higher value max ((TM- T), TQ') let pass time T ' as combinatorial phase green light, phase M and phase Q ' are let pass T ' jointly
Time span, and by M, Q, Q ' remove phase sequencing queue, into step C3；
Step C3：Whether be empty, if it is empty, return to step C0 restarts whole circulation if judging track phase sequencing queue；If
It is not sky, then recalculates the current coefficient of all phases, and the phase in current phase sequencing queue is resequenced,
Return again to step C1.
5. a kind of traffic control device of self adaptation crossroad traffic signal lamp, it is characterised in that including：
Receiver module, for traffic data of the real-time reception from car-mounted terminal and crossing traffic signal pickup assembly；
Processing module, the current coefficient for calculating each track corresponding phase, and current phase principle is combined, determine traffic signals
The current order of lamp and time；
Self-adaptive control module, is handed over for the current order of traffic lights obtained according to the processing module and time generation
The auto-adaptive controling signal of ventilating signal lamp, and traffic lights are controlled based on the auto-adaptive controling signal.
6. device according to claim 5, it is characterised in that the processing module includes data capture unit, calculates single
Member and allocation unit；
The data capture unit, for obtaining each track in the traffic data that is gathered from receiver module in current phase
Vehicle fleet size；
The computing unit, for the vehicle data according to each track, obtains the current coefficient of each track corresponding phase；
The allocation unit, in unit period, being carried out according to the current coefficient of each phase in track to each phase current suitable
The distribution of sequence and transit time.
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