CN107016860A - A kind of signal-control crossing dynamic space-time optimization method under car networking technology - Google Patents
A kind of signal-control crossing dynamic space-time optimization method under car networking technology Download PDFInfo
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- CN107016860A CN107016860A CN201710354240.5A CN201710354240A CN107016860A CN 107016860 A CN107016860 A CN 107016860A CN 201710354240 A CN201710354240 A CN 201710354240A CN 107016860 A CN107016860 A CN 107016860A
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- G—PHYSICS
- G08—SIGNALLING
- 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
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Abstract
The invention discloses the signal-control crossing dynamic space-time optimization method under a kind of car networking technology, comprise the following steps：Based on car networking technology, the cycle collection each streamline vehicle parameter in intersection；Each streamline vehicle queue of current period and arriving amt are calculated according to the information of collection, each import track distribution in intersection is determined according to each streamline vehicle number；It is determined that intersection track layout on the basis of, the compatibility relation between all streamlines is determined based on streamline compatibility；Pass through each streamline compatibility relation determined, obtain current period signal and control feasible phase combination scheme；With reference to optimal timing model, streamline signal timing dial is carried out to all feasible phase combination schemes, optimum control scheme is therefrom chosen as current period and intersects message prosecutor case；The determination of next periodic Control scheme is obtained using above-mentioned same manner, so as to realize that signal-control crossing dynamic space-time optimizes.The inventive method can optimize the spatiotemporal efficiency of integrative design intersection significantly.
Description
Technical field
The present invention relates to during a kind of dynamic of the signal-control crossing under traffic signalization technology, more particularly to car networking technology
Empty optimization method.
Background technology
With the fast development of Chinese society economy, city size expands day by day, and Urban Traffic Jam Based is increasingly serious.
Intersection, as the main Distribution Center of urban highway traffic, is the main generation node of traffic congestion.To crossroad oral sex
It is a kind of method that inexpensive, high effect alleviates urban traffic blocking that through-flow line, which carries out reasonably analysis, dynamic space-time optimization, by
To increasing concern and further investigation.
With the arrival of Internet era, advanced mechanics of communication is constantly updated, and advanced car networking technology is continued to develop,
Acquisition for the information and state of signal-control crossing import streamline vehicle improves good technical support.It is hereby based on car networking
Technology carries out dynamic space-time optimization to signalized crossing, can be good at the spatiotemporal efficiency that promotion signal controls intersection.
At present, the control of urban road intersection signal is still generally using the fixed signal control of fixed timing stationary phase
Mode, partial intersection mouth is set to sensing control mode (timing of stationary phase dynamic), and few intersection is using adaptive sensing
Signal control (timing of stationary phase dynamic)；And in existing some signal-control crossing optimization methods research, including timing designing
With phase sequence optimization, control program phase sequence is optimized with having, but does not consider the optimum organization of phase streamline, is more not directed to
Periodic phase streamline dynamic optimized combination.The application of either actual control method, or intersection signal control method are ground
Study carefully, be not directed to the overall dynamics optimization of intersection room and time.
The content of the invention
The technical problem to be solved in the present invention is that there is provided under a kind of car networking technology for defect of the prior art
Signal-control crossing dynamic space-time optimization method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of signal-control crossing under car networking technology is moved
State space and time optimization method, comprises the following steps：
1) car networking technology, the cycle collection each streamline vehicle parameter in intersection, including vehicle location, speed and vehicle are based on
Lane change information；
2) each streamline vehicle queue of current period and arriving amt are calculated according to the information of collection, according to each streamline vehicle number
Each import track distribution in intersection is determined, number of track-lines needed for each streamline of current period is determined；
3) it is determined that intersection track layout on the basis of, the compatible pass between all streamlines is determined based on streamline compatibility
System；
4) each streamline compatibility relation determined is passed through, the setting of basis signal control intersection periodic phase scheme will
Ask, obtain current period signal and control feasible phase combination scheme；
5) optimal timing model is combined, streamline signal timing dial is carried out to all feasible phase combination schemes, by more every than selecting
One feasible phase combination scheme timing model objective function value, therefrom chooses optimum control scheme as current period and intersects message
Prosecutor case.
6) after current period optimum control scheme is determined, the determination of next periodic Control scheme is obtained using same manner,
So as to realize that signal-control crossing dynamic space-time optimizes.
By such scheme, the step 3) in compatibility relation between streamline include three classes：To it is compatible, shunt it is compatible and
Interflow is compatible；Determine streamline compatibility relation it may first have to determine that the opposite relation between streamline, divided relation and interflow are closed
System, it is specific as follows：
Opposite relation is in to two imports and flowing to relation between opposite streamline；Divided relation is in same
The relation entered between intraoral streamline；It is compatible for collaborating, it is in different imports but flows to the pass between the streamline of same import
System；
When streamline track, which is not present, in all imports shares, opposite relation and divided relation are compatibility relation；And it is right
In confluent relation, when the import number of track-lines of 2 streamlines<=exit lane number, i.e., when import and export number of track-lines matches, vehicle is abided by successively
Traffic rules traveling is followed, now collaborates 2 streamlines in the absence of conflict point, can be considered compatibility relation, be otherwise conflict relationship.
When import, which has streamline track, to be shared, this enters intraoral streamline and only shunts compatibility relation each other, equal with other streamlines
For incompatible relation, i.e. conflict relationship.
The beneficial effect comprise that：
(1) present invention is based on advanced car networking technology, obtains vehicle real time, understands vehicle real-time status, to handing over
Prong import track layout carries out dynamically distributes, lifts intersection track space utilization rate；
(2) confluent relation of streamline is finely divided by the present invention, is set up streamline interflow compatible combination, is greatly improved feasible
The streamline number of combinations of phase, so as to more improve signal phase control program number；
(3) present invention is obtained after majority signal phase control schemes, is optimized timing one by one to scheme, is finally chosen optimal
Signal phase control program.Thus control program is further adapted with intersection streamline real-time status, optimizes intersection significantly
The spatiotemporal efficiency of signal control.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is crossing inlet traffic line flow schematic diagram under car networking technology in the embodiment of the present invention；
Fig. 3 is interflow streamline compatibility relation explanation figure in the embodiment of the present invention
Fig. 4 determines intersection track layout by being obtained under car networking technology in the embodiment of the present invention after information of vehicles；
Fig. 5 is intersection part signal phase control schemes in the embodiment of the present invention；
Fig. 6 is intersection part signal phase control schemes timing figure in the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to limit only to explain the present invention
The fixed present invention.
As shown in figure 1, the present invention provides the signal-control crossing dynamic space-time optimization method under a kind of car networking technology, the party
Method includes following steps：
It is primarily based on car networking technology, each streamline vehicle parameter in dynamic access intersection, including vehicle location, speed, car
The information such as lane change.According to acquired information of vehicles, each streamline vehicle number of current period is calculated, according to each streamline vehicle number pair
Crossing inlet track turning function is laid out, so that it is determined that number of track-lines needed for each streamline of current period；It is determined that intersection
On the basis of the layout of mouthful track, the compatibility relation between all streamlines is determined based on streamline compatibility, so-called compatibility relation includes pair
To compatibility relation, shunting compatibility relation and interflow compatibility relation.Pass through each streamline compatibility relation determined, basis signal
The setting requirements of intersection periodic phase scheme are controlled, current period signal is obtained and controls feasible phase combination scheme；According to institute
The streamline vehicle parameter of determination and selected some signals control phase combination scheme, with reference to optimal timing model, to each stream
Line carries out timing, and current period intersection message prosecutor case is used as by choosing optimum control scheme；Intersection streamline wagon flow has
Periodically time-varying, by the way that different cycles are set with different streamline track distribution and different Optimal Signals control programs, so as to realize
Signalized crossing dynamic space-time optimizes.
Based on car networking advanced technology, it can obtain and vehicle position is mainly obtained in streamline information of vehicles parameter, the present invention
Put and direction information, so that it is determined that each streamline vehicle number in intersection, as shown in Figure 2.
In Fig. 2：The kth cycle enters western imported vehicle number；ρW(k) kth cycle western entrance ingress traffic density；vW
(k) kth cycle western entrance ingress vehicle average speed；Fleet's tail of the queue number is reached for kth cycle western imported vehicle；For vehicle left-hand rotation, straight right ratio；Vehicle left-hand rotation streamline, straight right streamline reach vehicle number；The original queuing vehicle number of streamline；The total vehicle number of streamline；QWN(k)、QWE(k)、QWS(k) flow
Line enters north, east, southing mouthful vehicle number.
There is following relation in parameter：
In formula 6, formula 7, take less than when, represent that the current period import is not dissipated completely, there is vehicle delay.When a certain track
When there is vehicle delay, the turning function in next cycle track is constant., may because if track turning function changes
The delay vehicle in the track, which can be made, can not meet itself steering demand, with this simultaneously, and other tracks also must during function distribution
Strict must be turned to according to track sets rule to be configured, to avoid streamline vehicle collision, the current safety of support vehicles.
After intersection lane function layout is determined, the compatibility relation of each streamline in intersection is also to should determine that.Between streamline
Compatibility relation includes three classes：To it is compatible, shunt it is compatible and collaborate it is compatible.
Determine streamline compatibility relation it may first have to determine opposite relation, divided relation and the confluent relation between streamline.
Opposite relation is in to two imports and flowing to relation between opposite streamline；Divided relation be in it is same enter intraoral stream
Relation between line；It is compatible for collaborating, it is in different imports but flows to the relation between the streamline of same import.Obviously
When streamline track, which is not present, in all imports shares, opposite relation and divided relation are compatibility relation；And closed for interflow
System, generally to be regarded as conflict relationship, is refined herein, be i.e. the import number of track-lines when 2 streamlines<=exit lane number (is imported and exported
Number of track-lines matches) when, vehicle follows traffic rules traveling successively, now collaborates 2 streamlines in the absence of conflict point, can be considered compatible
Relation, is otherwise conflict relationship.Therefore, confluent relation can consider as compatibility relation, while traffic safety hidden danger is also not present.
Such as Fig. 3：nWL+nST=nNC, wherein, nWLFor western import left-hand rotation streamline number of track-lines, nSTFor southing mouthful straight trip streamline number of track-lines, nNCFor
Northern exit lane number, can illustrate that western import left-hand rotation streamline collaborates compatible with southing mouthful straight trip streamline, otherwise by this relational expression
It is incompatible.Further, when import has streamline track and shared, this enters intraoral streamline and only shunts compatibility relation each other, with other streams
Line is incompatible relation, i.e. conflict relationship.
By compatible streamline is combined as can line phase, add the streamline combining form of phase, thus signal control hand over
Prong periodic phase assembled scheme number is greatly increased, and then can preferably choose Optimal Signals control phasing scheme.
Determine after streamline compatibility relation, some feasible phase combinations can be obtained, i.e., by 2 streamline structures of compatibility relation
Into combination.Signal-control crossing control phasing scheme is to be made up of these feasible phase combinations, according to streamline priority, stream
Line vehicle queue length, special car priority pass etc. priority rule, can be combined into a variety of signal control phasing schemes.
According to different priority rules and streamline compatibility relation, it is programmed using MATLAB softwares, obtains all intersection signals
Phase control schemes.
Using some feasible phase control schemes based on the information of vehicles acquired in car networking technology and determination, based on most
Each phase control schemes are carried out streamline timing by excellent timing model, finally choose optimal signal control phasing scheme conduct
The control program of current period.Next cycle obtains optimum control scheme using same flow, so as to realize intersection signal
The dynamic space-time optimization of control program.
One specific embodiment：
The present invention is used under car networking technology, obtains vehicle real time status information and crossing inlet traffic line stream
Measure (Fig. 2), intersection track is laid out again, Fig. 4 is to obtain under car networking technology to determine intersection after information of vehicles
Mouth track layout；Fig. 5 is the corresponding part signal phase control schemes of current intersection track distribution form.
In the current period layout of intersection, there is track and share in the only eastern straight left streamline of import, other imports are one
One track of bar streamline correspondence, can determine that the compatibility relation of all streamlines (has track and shares streamline compatible pass each other to this
System, incompatible with other streamlines, two streamlines of interflow, which exist to import and export track and match, can be considered that interflow is compatible), then it is all feasible
Phase streamline number of combinations is as shown in table 1.
Table 1
Meet definition in table 1：J represents streamline；K represents the cycle；Represent kth cycle eastern import straight trip streamline；Represent
Kth cycle east import left-hand rotation streamline；Represent kth cycle northing mouthful straight trip streamline；Kth cycle northing mouthful is represented to turn left to flow
Line；Represent kth cycle western import straight trip streamline；Represent kth cycle western import left-hand rotation streamline；Represent the southing of kth cycle
Mouth straight trip streamline；Represent kth cycle southing mouthful left-hand rotation streamline.
According to the feasible phase streamline combination determined in table 1, signal phase control program combination is carried out, is used
MATLAB softwares are programmed, and can obtain all intersection signal phase control schemes.It is more due to control program can be combined,
Just do not listed one by one in the present invention, for convenience of description, only list part signal phase control schemes (Fig. 5), control program
The combination of phase streamline is shown in Table 2, though signal phase is more in the present invention, signal phase is only 4, so can guarantee that signal control
Scheme will not be because number of phases is excessive and increases the loss of cycle green light.
Table 2
It is determined that after control phasing scheme, the information of vehicles according to acquired in car networking technology, using conventional optimal timing
Model, timing is carried out to each signal phase control program, and design parameter is as shown in table 3.
Table 3
The unit of parameter is all s in table 3, and vehicles average delay is vel/s, and streamline signal timing dial parameter includes yellow time
3s, streamline minimum green time is 7s, therefore meets and require, each scheme is indicated using normal signal multiphase traffic time allocation figure, is such as schemed
6.After each control program timing parameter is determined, the vehicles average delay corresponding to all schemes is compared, car is chosen
The minimum control program of mean delay is as the control program of current period, and each cycle uses such computational methods, from
And realize the dynamic space-time optimization of signal-control crossing.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (2)
1. the signal-control crossing dynamic space-time optimization method under a kind of car networking technology, it is characterised in that comprise the following steps：
1) car networking technology, the cycle collection each streamline vehicle parameter in intersection, including vehicle location, speed and vehicle lane change are based on
Information；
2) each streamline vehicle queue of current period and arriving amt are calculated according to the information of collection, determined according to each streamline vehicle number
Each import track distribution in intersection, determines number of track-lines needed for each streamline of current period；
3) it is determined that intersection track layout on the basis of, the compatibility relation between all streamlines is determined based on streamline compatibility；
4) each streamline compatibility relation determined is passed through, basis signal controls the setting requirements of intersection periodic phase scheme,
Obtain current period signal and control feasible phase combination scheme；
5) combine optimal timing model, streamline signal timing dials carried out to all feasible phase combination schemes, by than select it is each can
Line phase assembled scheme timing model objective function value, therefrom chooses optimum control scheme as current period and intersects message prosecutor
Case；
6) after current period optimum control scheme is determined, the determination of next periodic Control scheme is obtained using above-mentioned same manner,
So as to realize that signal-control crossing dynamic space-time optimizes.
2. the signal-control crossing dynamic space-time optimization method under car networking technology according to claim 1, it is characterised in that
The step 3) in compatibility relation between streamline include three classes：To it is compatible, shunt it is compatible and collaborate it is compatible；Determine streamline
Compatibility relation it may first have to determine opposite relation, divided relation and the confluent relation between streamline, it is specific as follows：
Opposite relation is in to two imports and flowing to relation between opposite streamline；Divided relation is to be in same import
Relation between interior streamline；It is compatible for collaborating, it is in different imports but flows to the relation between the streamline of same import；
When streamline track, which is not present, in all imports shares, opposite relation and divided relation are compatibility relation；And for closing
Flow relation, when the import number of track-lines of 2 streamlines<=exit lane number, i.e., when import and export number of track-lines matches, vehicle follows friendship successively
Drift is then travelled, and is now collaborated 2 streamlines in the absence of conflict point, be can be considered compatibility relation, be otherwise conflict relationship.
When import, which has streamline track, to be shared, this enters intraoral streamline and only shunts compatibility relation each other, is not with other streamlines
Compatibility relation, i.e. conflict relationship.
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| CN113299096A (en) * | 2017-12-28 | 2021-08-24 | 北京百度网讯科技有限公司 | Cooperative intersection traffic control method, device and equipment |
| CN113516842A (en) * | 2021-06-03 | 2021-10-19 | 东南大学 | Intelligent internet direct-running motorcade intersection organization method and device |
| EP4307270A1 (en) * | 2022-07-14 | 2024-01-17 | Kapsch TrafficCom AG | Method and server for controlling traffic lights |
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Application publication date: 20170804 |