CN107248299A - Special-lane bus priority trunk line coordination control method based on standing time - Google Patents
Special-lane bus priority trunk line coordination control method based on standing time Download PDFInfo
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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
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
Abstract
The invention relates to a stop time-based coordination control method for a bus priority trunk of a private lane, which considers that under the coordination condition of the bus priority trunk of the independent private lane, the coordination among intersections is not influenced by social vehicles, and compared with the coordination of the trunk of the social vehicles, the running state of the bus of the private lane is easy to judge when the timing of adjacent intersections changes, analyzes the distribution condition of the stop time of the bus and the estimation of a confidence interval, obtains the running space-time track of the bus of the private lane by combining the running speed of the bus, the running path of the bus and other constraint conditions, determines the probability and expectation that the bus passes through a downstream intersection by considering the travel time, the phase difference and other constraint conditions, implements the coordination of the priority trunk of bus signals by a method combining off-line control and active control, reduces the delay time of the bus and improves the running efficiency of.
Description
Technical field
The present invention is the control method on public traffic in priority, is coordinated primarily directed to independent special lane public traffic in priority
Control, belongs to Controlling Traffic Signals in Urban Roads field.
Background technology
The development of current public traffic in priority is achieved by a variety of factors, and is such as increased by path resource finite sum vehicles number
Deng most urban public transports trip ratios are relatively low, and public transit vehicle service level is poor, and punctuality rate is low, causes many trips
Person does not select bus trip, and public transport does not have the fully effective evacuation effect for playing it to traffic.Therefore, we must seek feasible
Method solve the problem of public transport is existing.
In urban road, the position of influence traffic is mainly intersection, and bus is relative to other vehicles
For have the features such as handling capacity of passengers is big, the speed of service is slow, if bus intersection can not pass through can produce it is more
Delay, therefore analysis public traffic in priority difficult point mainly on intersection.If bus can be at one even more than friendship
Prong is all passed through, and traffic delay will significantly reduce, and the run time of whole piece circuit also reduces accordingly, and this is just ensured
The punctuality rate and service level of bus.
Most researchs for bus priority control system are coordination control using single crossing as target, but are based on
Preferential and Arterial Coordination Control the research of many bus signals is less, and bus travels needs continuously through multiple tight on road
The intersection of close contact, therefore to consider overall trade-off effect, the controlling of bus priority model of intersection group is designed, i.e.,
Main line public traffic in priority control method for coordinating.
The content of the invention
To solve the above problems, the present invention provides a kind of special lane public traffic in priority Arterial Coordination Control based on the time in station
Method, it is considered in the case of independent special lane public traffic in priority Trunk Road Coordination, coordinate not influenceed by public vehicles between each intersection,
Draw special lane public transport operation space-time track with reference to public transport operation speed and bus travel path etc., then consider journey time,
The constraintss such as phase difference determine probability and expectation of the bus by downstream intersection, and this method specifically uses following steps：
(1) running time of the bus between two intersections is calculated
Distance is L between two intersectionsab, bus average overall travel speed is VB, the acceleration that enters the station is a, then handed over two
The journey time of prong：
In formula：tsFor public transport time interval in station；t±For bus acceleration-deceleration delay；VBFor public transport vehicle speed；A is public transport
Car acceleration；
(2) probability and expectation of the bus by downstream intersection are determined
In the confidential interval [t of time in stations1, ts2] under, journey time T of the bus in two intersectionsabIt is divided into Tab1、
Tab2：
Bus is by being t at the time of a of intersectiona, two-end-point respectively t is defined according to the confidential interval of time in stations1、ts2
When, the time interval that bus reaches downstream intersection is [td1, td2], two intersection phase differences are βi, common period is C, green
The lamp time is g, then：
Calculate i intersection in each car green light interval a, green light and red light transposition section b, red light interval c pass through
Probability λim：
In formula：gsFor green light finish time；
(3) probability that most preferably passes through is determined according to the current expectation of the maximum in section, to determine optimal off-lined signal control
Coordinate phase difference, it is comprised the following steps that：
(31) choose the i-th intersection and distribution is reached to its history and carry out statistical analysis, each car is calculated according to step (2)
Current probability, intersection i is in phase differenceIn the case of period by expecting EiFor：
Wherein m is the public transit vehicle number in statistical time range, CiFor common period,
(32) β is madei=βi+ 1, judge βi≤Ci, if so, (31) operation is then performed, (33) operation is otherwise performed；
(33) i=i+1 is made, i≤n is judged, if so, (31) operation is then performed, (34) operation is otherwise performed；Wherein, n is
The crossway of the main stem quantity；
(34) expected matrix E is passed through by said process construction
Wherein EnjFor desired value of n-th of intersection under the conditions of j-th of phase difference, j=Ci；
(35) the maximum expectation value matrix E in each intersection is found from matrix Emax
Therefore the optimum phase difference that can obtain an intersection is
[j1 j2 … jn]。
Preferably, this method also includes
(4) method being combined by Off-line control and active control implements the preferential Trunk Road Coordination of bus signals, and step is such as
Under：
(41) when detector, which detects bus, there are override requests, judge whether the request is in clearance phase, if so,
(42) then are performed, otherwise (43) are performed；
(42) if bus reaches stop line during public transport phase green light, signal is constant, otherwise performs (45)；
(43) judge whether request phase is next phase, if it is, performing (44), otherwise signal is constant；
(44) if bus reaches stop line during public transport phase green light, signal is constant, otherwise performs (46)；
(45) green light extension module is started, display performs (47) after finishing；
(46) red light early disconnected module is started, display performs (47) after finishing；
(47) bus by recovering original signal timing immediately behind crossing.
Brief description of the drawings
The present invention is further described with example below in conjunction with the accompanying drawings：
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is data collection point schematic diagram.
Fig. 3 is that public transport reaches downstream intersection signal schematic representation.
Fig. 4 is that optimum phase difference solves flow chart.
Fig. 5 is active control flow chart.
Embodiment
The method flow of the present invention is as shown in Figure 1.
Gather distance, Public Transit Bus Stopping procedure parameter, bus routes, public affairs between Traffic Information, including two intersections
Hand over vehicle flowrate, bus stop type etc..First data acquisition, circuit and station are carried out during the higher evening peak of selection departure frequency
The selection requirement of point is with public transportation lane and has a plurality of public bus network process, as shown in Figure 2.
(1) situation of Annual distribution in station and the Estimating Confidence Interval of time in station of public transit vehicle are analyzed, with reference to public transport fortune
Scanning frequency degree and bus travel path etc. draw bus in the operation space-time track of public transportation lane.
Fitting of distribution is carried out for the time data in station collected, the Annual distribution in station of bus is to illustrate public transport
Car all time in station falls the number of times in each time interval, it is determined that the probability of each circuit bus Annual distribution in station
Density function.In order that maximum probability is by intersection in green time for public transport, the research time in station is under certain probability
It is distributed in some interval, so that judge that bus reaches the time of downstream intersection, it is general to choose the confidence that confidence level is 90%
It is interval.
The value of 90% confidence interval is obeyed according to the time in station obtained, is ensureing the premise in original signal cycle
Under, by adjusting the phase difference between two intersections, enable bus maximum probability reaches downstream intersection in green time
Mouthful, pass through more public transit vehicle numbers in cycle time.
Running time of the bus between two intersections, when only considering normal operation herein for the convenience of calculating
Running time and time in station for estimating above.
Distance between defining two intersections is needed to be L according to researchab, bus average overall travel speed is VB, acceleration of entering the station
Spend for a, then the journey time in two intersections：
In formula：
ts--- public transport time interval in station, s；
t±--- bus acceleration-deceleration delay, s；
VB--- public transport vehicle speed, m/s；
A --- bus acceleration, m/s2。
(2) consider that the constraintss such as journey time, phase difference determine probability and expectation of the bus by downstream intersection.
In order to be passed through when judging that bus reaches downstream intersection, journey time T is utilizedabAnd the time in station
Confidential interval [ts1, ts2] it is analyzed, therefore journey time is respectively：
If detecting certain road bus by being t at the time of a of intersectiona, two ends are defined according to the confidential interval of time in station
Point is respectively ts1、ts2When, the time interval that bus reaches downstream intersection is [td1, td2], two intersection phase differences are βi,
Common period is C, and green time is g, therefore：
Know that bus there are three kinds of situations when reaching downstream intersection, is illustrated in fig. 3 shown below, respectively reaches by above formula analysis
It is interval (c) that time interval belongs to green light interval (a), green light and red light transposition section (b), red light.
It is different by intersection probability for tri- kinds of situation correspondences of a, b, c, then each car in i intersection is analyzed successively
Current probability λim, therefore：
In formula：
gd=gs-t1d
gd--- the long green light time of public transport P Passable, s；
gs--- green light finish time, s.
(3) probability that most preferably passes through is determined according to the current expectation of the maximum in section, to determine optimal off-lined signal control
Coordinate phase difference.
Because the distribution of special lane public transport is by integrative design intersection and time effects in station, therefore it is distributed running status
Ibid the phase difference of downstream intersection is furnished with larger association, therefore, from the current probability of the distribution of special lane public transport, passes through
Find the current expectation of maximum of specific road section to determine the probability that most preferably passes through, and then determine the coordination phase of optimal off-lined signal control
Potential difference, it is comprised the following steps that：
Step1：It is n to make the crossway of the main stem quantity, and it is β with the phase difference of downstream i+1 intersections to make the crossway of the main stem ii。
Step2：Choose the i-th intersection and distribution is reached to its history and carry out statistical analysis, statistical time range is 30min, and
Analyze the current probability λ of each car successively using formula (6)m, therefore intersection i is in phase differenceIn the case of period pass through the phase
Hope EiFor：
Wherein m is the public transit vehicle number in statistical time range, CiFor common period,
Step3：Make βi=βi+ 1, judge βi≤Ci, if so, Step2 operations are then performed, Step4 operations are otherwise performed.
Step4：I=i+1 is made, i≤n is judged, if so, Step2 operations are then performed, Step5 operations are otherwise performed.
Step5：Expected matrix E is passed through by said process construction
Wherein EnjFor desired value of n-th of intersection under the conditions of j-th of phase difference, j=Ci
Step6：The maximum expectation value matrix E in each intersection is found from matrix Emax
Therefore the optimum phase difference that can obtain an intersection is
[j1 j2 … jn] (10)
According to the historical data of investigation, based on Robert Webster timing method, the expectation that addition bus passes through is calculated
Timing parameter in off-line case.
(4) method being combined by Off-line control and active control implements the preferential Trunk Road Coordination of bus signals.
Because bus can produce random delay in road driving, intersect to judge that public transport reaches downstream
The situation of mouth, arranges a wagon detector between bus stop and downstream intersection, true by the vehicle condition detected
Determine the Active Control Method of downstream intersection, when receiving public traffic in priority application, be finely adjusted in timing scheme, make bus
Intersection is passed through, this section extends using green light or green light opens bright method in advance.Step is as follows：
Step1：When detector, which detects bus, there are override requests, judge whether the request is in clearance phase, if
It is then to perform Step2, otherwise performs step3；
Step2：If bus reaches stop line during public transport phase green light, signal is constant, otherwise performs
Step5；
Step3：Judge whether request phase is next phase, if it is, performing Step4, otherwise signal is constant；
Step4：If bus reaches stop line during public transport phase green light, signal is constant, otherwise performs
Step6；
Step5：Start green light extension module, display performs Step7 after finishing；
Step6：Start red light early disconnected module, display performs Step7 after finishing；
Step7:Bus by recovering original signal timing immediately behind crossing.
Green light extends and green light opens bright minimum time g in advance1For bus by needed for detector to intersection when
Between, maximum duration will ensure the minimum green time g of next phasemin：
gmin=max (gp,gc) (4-15)
In formula：
ld--- the distance of detector to intersection, m；
The average speed of v --- bus, m/s；
gp--- the minimum long green light time needed for pedestrian's street crossing, s；
gc--- ensure the minimum long green light time of driving, s.
Claims (2)
1. a kind of special lane public traffic in priority Arterial Coordination Control method based on the time in station, it is characterised in that this method includes
Following steps：
(1) running time of the bus between two intersections is calculated
Distance is L between two intersectionsab, bus average overall travel speed is VB, the acceleration that enters the station is a, then in two intersections
Journey time：
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In formula：tsFor public transport time interval in station；t±For bus acceleration-deceleration delay；VBFor public transport vehicle speed；A adds for bus
Speed；
(2) probability and expectation of the bus by downstream intersection are determined
In the confidential interval [t of time in stations1, ts2] under, journey time T of the bus in two intersectionsabIt is divided into Tab1、Tab2：
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Bus is by being t at the time of a of intersectiona, two-end-point respectively t is defined according to the confidential interval of time in stations1、ts2When,
The time interval that bus reaches downstream intersection is [td1, td2], two intersection phase differences are βi, common period is C, during green light
Between be g, then：
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Each car is in green light interval a, green light and red light transposition section b, red light interval c current probability in i intersection of calculating
λim：
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In formula：gsFor green light finish time；
(3) probability that most preferably passes through is determined according to the current expectation of the maximum in section, to determine the coordination of optimal off-lined signal control
Phase difference, it is comprised the following steps that：
(31) choose the i-th intersection and distribution is reached to its history and carry out statistical analysis, the logical of each car is calculated according to step (2)
Row probability, intersection i is in phase differenceIn the case of period by expecting EiFor：
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Wherein m is the public transit vehicle number in statistical time range, CiFor common period,
(32) β is madei=βi+ 1, judge βi≤Ci, if so, (31) operation is then performed, (33) operation is otherwise performed；
(33) i=i+1 is made, i≤n is judged, if so, (31) operation is then performed, (34) operation is otherwise performed；Wherein, n is main line
Intersection quantity.
(34) expected matrix E is passed through by said process construction
Wherein EnjFor desired value of n-th of intersection under the conditions of j-th of phase difference, j=Ci；
(35) the maximum expectation value matrix E in each intersection is found from matrix Emax
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Therefore the optimum phase difference that can obtain an intersection is
[j1 j2 … jn]。
2. a kind of special lane public traffic in priority Arterial Coordination Control method based on the time in station as claimed in claim 1, it is special
Levy and be, this method also includes
(4) method being combined by Off-line control and active control implements the preferential Trunk Road Coordination of bus signals, and step is as follows：
(41) when detector, which detects bus, there are override requests, judge whether the request is in clearance phase, if so, then holding
Row (42), otherwise performs (43)；
(42) if bus reaches stop line during public transport phase green light, signal is constant, otherwise performs (45)；
(43) judge whether request phase is next phase, if it is, performing (44), otherwise signal is constant；
(44) if bus reaches stop line during public transport phase green light, signal is constant, otherwise performs (46)；
(45) green light extension module is started, display performs (47) after finishing；
(46) red light early disconnected module is started, display performs (47) after finishing；
(47) bus by recovering original signal timing immediately behind crossing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710620861.3A CN107248299B (en) | 2017-07-26 | 2017-07-26 | Special-lane bus priority trunk line coordination control method based on standing time |
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