CN107274672A - Signalized intersections bicycle delay time at stop method of estimation based on gps data - Google Patents

Signalized intersections bicycle delay time at stop method of estimation based on gps data Download PDF

Info

Publication number
CN107274672A
CN107274672A CN201710654090.XA CN201710654090A CN107274672A CN 107274672 A CN107274672 A CN 107274672A CN 201710654090 A CN201710654090 A CN 201710654090A CN 107274672 A CN107274672 A CN 107274672A
Authority
CN
China
Prior art keywords
mrow
msub
vehicle
time
mtd
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710654090.XA
Other languages
Chinese (zh)
Other versions
CN107274672B (en
Inventor
孙棣华
赵敏
郑林江
周桐
杨陈成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liyang Smart City Research Institute Of Chongqing University
Original Assignee
Chongqing University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing University filed Critical Chongqing University
Priority to CN201710654090.XA priority Critical patent/CN107274672B/en
Publication of CN107274672A publication Critical patent/CN107274672A/en
Application granted granted Critical
Publication of CN107274672B publication Critical patent/CN107274672B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry

Landscapes

  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Engineering & Computer Science (AREA)
  • Strategic Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • Educational Administration (AREA)
  • Tourism & Hospitality (AREA)
  • Development Economics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Theoretical Computer Science (AREA)
  • General Business, Economics & Management (AREA)
  • Marketing (AREA)
  • Analytical Chemistry (AREA)
  • Quality & Reliability (AREA)
  • Operations Research (AREA)
  • Chemical & Material Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Acyclic And Carbocyclic Compounds In Medicinal Compositions (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of signalized intersections bicycle delay time at stop method of estimation based on gps data, time headway of the queuing vehicle in selected travel direction at stop line, the signal timing dial parameter and vehicle GPS data of signal lamp are obtained first on signalized intersections；When the instantaneous velocity of vehicle is 0, then the distance between vehicle and intersection parking line is calculated by current vehicle position information, calculate and obtain the queuing position of vehicle；And calculate the intersection bicycle delay time at stop.The present invention realizes the estimation to vehicle by the delay time at stop of intersection using the gps data of vehicle.Delay time at stop is referred to behind vehicle entering signal intersection, if it is influenceed by signal red light and waited in line before stop line, it estimates that vehicle at the time of first parking is queued up to sailing out of how long stop line also needs delay；Realize to single unit vehicle the delay time at stop of intersection estimation.

Description

Signal intersection single vehicle delay time estimation method based on GPS data
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method for estimating the delay time of a single vehicle at a signal intersection based on GPS data.
Background
The delay time of the vehicle passing through the signalized intersection is an important evaluation index of the service level and the operation efficiency of the signalized intersection, and can reflect the driving comfort of a driver, the oil consumption and the emission of vehicle driving and the lost travel time, and can also reflect the reasonability and the feasibility of the road planning construction and the design of a signal control scheme of the intersection. Therefore, the research on the delay time of the vehicle passing through the signalized intersection has important significance and value.
Due to the limitations of technical conditions, detection means and the like, most of the conventional vehicle delay time estimation methods aim at the average delay time of all vehicles within a period of time (namely, the vehicle delay). However, the vehicle-to-vehicle delay describes an average delay situation of all vehicles in the time period, but for route optimization and navigation, estimation is only carried out on a target vehicle, and the route optimization and navigation based on the estimation is more pertinent and reasonable. Therefore, the method aims at a single vehicle, researches the delay time of the vehicle passing through the intersection, has important practical significance, and can provide basis for estimation of travel time, route optimization and navigation.
Therefore, in order to estimate the delay time of a single vehicle at an intersection, a new method for estimating the delay time of the single vehicle based on the GPS data is required.
Disclosure of Invention
The invention aims to provide a signal intersection single vehicle delay time estimation method based on GPS data; the method is used for estimating the signal intersection single vehicle delay time based on GPS data.
The purpose of the invention is realized by the following technical scheme:
the invention provides a GPS data-based signalized intersection single vehicle delay time estimation method, which comprises the following steps:
selecting a driving direction on a signalized intersection and acquiring the head time distance of queued vehicles in the selected driving direction at a stop line; forming the distribution characteristic of the head time intervals of the queued vehicles;
acquiring signal timing parameters of a signal lamp in the selected driving direction, wherein the signal parameters comprise signal period duration TcTime length T of red lightrTime length T of green lightg＝Tc-TrAnd the red light start time of each period;
acquiring vehicle GPS data; the vehicle GPS data comprises a current position, an instantaneous speed and a current time of the vehicle;
judging whether the instantaneous speed of the vehicle is 0 or not, if so, calculating the distance between the vehicle and a stop line at the intersection according to the current position information of the vehicle, and calculating and obtaining the queuing position of the vehicle;
and calculating the intersection single vehicle delay time according to the head time distance of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles.
Further, the calculation of the delay time of the single vehicle at the intersection is realized according to the following steps:
acquiring the saturated headway of the intersection from the mth queuing position, wherein the value of the saturated headway is Tb；
Obtaining the average values of the time distances between the heads of the vehicles with the queuing positions from 1 to m as Ti，i＝1,2,…,m；
If it is judged thatIf yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line exceeds the green light time, the intersection can pass through the maximum number n of the vehicles in one signal period, and n is<m, and having:
is calculated to obtainThe value of time n;
if it is judged thatAnd if yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line does not exceed the green time, and n is more than or equal to m, and the method comprises the following steps:
is calculated to obtainThe value of time n;
acquiring vehicle GPS data after a vehicle enters an intersection, and when the vehicle GPS data shows that the speed of the vehicle is 0, taking the time corresponding to the vehicle GPS data as the time t of the initial parking queue of the vehicle0；
According to the time t0The red light start time of the signal period is obtained in the following mannerSo that t is0Satisfies the following conditions:
wherein,the starting time of the red light of a certain signal period;
determining the state of a signal lamp of the intersection when the vehicle is parked and queued for the first time according to the following modes:
if it isThe signal lamp is red when the vehicle is parked for the first time and queued; if it isThe signal lamp is green when the vehicle is parked for the first time and queued;
judging whether the following conditions are met:
①and is
If the vehicle is in the queue, the signal lamp is red when the vehicle is parked for the first time;
determining a travel time required from a start to a vehicle leaving a stop line in the following manner; the travel time comprises the remaining time of a red light when the vehicle is parked for the first time and queued, and the time from turning on of a green light to driving away from a stop line;
vehicle at t0When the vehicle is parked and queued for the first time, if the signal lamp is red, the remaining time T' of the red lamp is as follows:
the vehicles continue to wait in line during the whole remaining time of the red light; when the red light is finished, the green light is turned on, and the vehicles start to queue and drive away from the stop line;
if the queuing position of the vehicle does not exceed the maximum number of vehicles which can pass in one signal period, i.e. k0N, the vehicle can drive off the stop line in one signal period, and the time T' required by the vehicle from the turning-on of the green light to the driving off of the stop line is calculated according to the following modes:
if the queue position of the vehicle exceeds the maximum number of vehicles that can pass in a signal period, i.e. k0>n, the vehicle is not possible to drive out of the stop line in one signal period, and the number p of queuing times experienced by the vehicle is calculated according to the following mode:
k is obtained by calculation0>n is the value of p, wherein k0Pn represents the queuing position of the vehicle after p times of queuing;
the time T' required by the vehicle from the first green light turn-on to the last driving off the stop line is as follows:
the travel time required for the vehicle to travel from the time the initial stop was queued to the stop line is calculated according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
② are judged in the following mannerIf it is true, n is greater than or equal to m and
if true, the time T' "that the green light has been on is calculated according to the following equation:
wherein the vehicle is at t0Queuing for the first time of parking:
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
③ is judged whether the following conditions are satisfiedI.e. n<m andnamely the signal lamp is red when the vehicle is parked for the first time and queued;
if k is0And n, calculating the time T' required by the vehicle from the turning-on of the green light to the driving away from the stop line according to the following formula:
if k is0>n, calculating the queuing times p of the vehicle according to the following formula, wherein the time T' required by the vehicle from the first green light on to the last driving off the stop line is as follows:
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
④ is judged whether the following conditions are satisfiedI.e. n<m andnamely the signal lamp is green when the vehicle is parked for the first time and queued;
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
Further, the method also comprises the following steps:
calculating the smooth driving time of the vehicle from the position of the initial parking queue to the parking line according to the following formula;
Tf＝L/vf(15)
wherein L is the distance between the vehicle and the stop line when the vehicle is in the queue for the first time of parking, and T isfAt a smooth speed v for the vehiclefFree time when the vehicle travels a distance L;
the vehicle still needs time delay from the time of queuing for the first parking to the time of leaving the parking line according to the following formula:
Td＝T-Tf(16)
wherein, TdThere is a delay time for the vehicle to exit the stop line from the time it was queued for the first stop.
Due to the adoption of the technical scheme, the invention has the following advantages:
the invention utilizes the GPS data of the vehicle to realize the estimation of the delay time of the vehicle passing through the intersection. The delay time refers to how long the vehicle needs to delay from the time of queuing for initial parking to the time of leaving the stop line if the vehicle is influenced by the red signal light and waits in queue in front of the stop line after entering the signalized intersection; the estimation of the delay time of a single vehicle at the intersection is realized.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
The drawings of the present invention are described below.
FIG. 1 is a flow chart of a method for estimating delay time of a single vehicle at a signalized intersection based on GPS data.
Detailed Description
The invention is further illustrated by the following figures and examples.
Example 1
As shown in the figure, in the method for estimating delay time of a single vehicle at a signalized intersection based on GPS data provided in this embodiment, the delay time in this embodiment refers to how long the vehicle needs to delay from the time of queuing for initial parking to the time of leaving a stop line if the vehicle is affected by a red signal and is queued in front of the stop line after entering the signalized intersection; the estimation of the delay time of the bicycle is realized, and the embodiment is defined and described as follows:
firstly, the signal period time length and the red light time length of an intersection are constant;
and secondly, the positioning error of the GPS data is not considered, and the GPS data which is subjected to data preprocessing is adopted.
The method provided by the embodiment comprises the following four steps:
the method comprises the following steps: and selecting a certain signalized intersection, carrying out on-site investigation on the head time distance of the queued vehicles at the stop line in a certain specific driving direction of the intersection, and carrying out statistical analysis on-site investigation data to obtain the general characteristics of the head time distance distribution of the queued vehicles.
Step two: the signal period duration T of the signal light of the selected driving direction is obtained by means of existing data analysis methods or field test methodscTime length T of red lightrTime length T of green lightg＝Tc-Tr(yellow light not considered) and the exact start of red light per cycle.
Step three: the method comprises the steps that after a vehicle enters an intersection, GPS data (the GPS data comprise information of the current position, the instantaneous speed, the current time and the like of the vehicle) of the vehicle are obtained and judged in real time, once the instantaneous speed of the vehicle is 0, the vehicle is considered to stop at the intersection and queue, the distance between the vehicle and a stop line of the intersection is calculated according to the information of the current position of the vehicle, and on the basis, the queuing position of the vehicle, namely the queuing position of the vehicle is obtained by a certain data analysis method.
Step four: comprehensively considering the time headway of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles, and establishing an intersection single vehicle delay time estimation model.
Example 2
The real-time estimation method of the vehicle delay time utilizes the real-time GPS data of the vehicle to realize the real-time estimation of the delay time of a single vehicle; the following detailed description will be made:
the method comprises the following steps: and selecting a certain signalized intersection, carrying out on-site investigation on the head time distance of the queued vehicles at the stop line in a certain specific driving direction of the intersection, and carrying out statistical analysis on-site investigation data to obtain the general characteristics of the head time distance distribution of the queued vehicles.
The headway refers to the time interval of two adjacent vehicle headways running on the same lane when the headway ends pass through the same section of the road. Currently, more scholars perform corresponding analysis and research on the time headway of the vehicles queued at the signalized intersection passing through the stop line. The result shows that the queuing position of the vehicle in front of the stop line has obvious influence on the time headway of the vehicle passing through the stop line, the average time headway is gradually reduced along with the increase of the queuing position of the vehicle and finally reduced to a relatively stable value (namely, the saturated time headway), the time headway of the vehicle passing through the stop line at different queuing positions approximately obeys the lognormal distribution, only for different intersections, the time headway distribution of the queued vehicle passing through the stop line is different (the mean value and the variance are different), and the queuing position of the vehicle when the vehicle starts to run at the saturated time headway is also different. Therefore, the method selects a specific driving direction at the intersection, carries out on-site investigation on the headway of the queued vehicles at the stop line in the direction, and obtains the specific distribution parameters of the log-normal distribution of the headway of the vehicles at different queuing positions.
In addition, when the time headway of the vehicles queued at the signalized intersection passing through the stop line is subjected to statistical analysis, a core problem needs to be solved, namely the time headway is judged to be saturated when the vehicles start to reach the saturated time headway from the several queuing positions. One of the judgment criteria of the start positions of the saturated headway is that the mean value of the headway of the vehicles has no obvious difference after a certain queuing position. Therefore, the invention sequentially tests whether the mean values of the headway of the vehicles at the adjacent queuing positions have obvious difference through independent sample T test in mathematical statistics, and obtains the starting position of the saturated headway. On the basis, from the start position of the saturated headway, the average value of mathematical expectation of headway distribution at each subsequent queuing position is taken as a specific value of the saturated headway.
Step two: the signal period duration T of the signal light of the selected driving direction is obtained by means of existing data analysis methods or field test methodscWhen it is redLong TrTime length T of green lightg＝Tc-Tr(yellow light not considered) and the exact start of red light per cycle.
Step three: the method comprises the steps that after a vehicle enters an intersection, GPS data (the GPS data comprise information such as the current position, the instantaneous speed and the current time of the vehicle) of the vehicle are obtained and judged in real time, once the instantaneous speed of the vehicle is 0, the vehicle is considered to stop at the intersection and queue, the distance between the vehicle and a stop line of the intersection is calculated through the information of the current position of the vehicle, and on the basis, the queuing position k of the vehicle is obtained through a certain data analysis method0I.e. it is the number of vehicles in the queue.
Step four: comprehensively considering the time headway of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles, and establishing an intersection single vehicle delay time estimation model.
The delay time can be obtained by calculating the difference between the travel time and the free-running time, and the travel time required by the vehicle from the moment of initial parking queuing to the moment of leaving the stop line is not only related to the signal lamp state and the queuing position of the vehicle in the initial parking queuing, but also related to the characteristics of the signalized intersection (including the head time distance, the signal cycle time length, the red light time length and the like of the vehicles at different queuing positions).
The intersection reaches the saturated headway after the mth queuing position, and the value of the saturated headway is TbThe average value of the headway of the vehicles with the queuing positions of 1 to m (namely the mathematical expectation of headway distribution) is Ti(i＝1,2,…,m)。
If it isThat is, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line exceeds the green time, and at the moment, the maximum number n of the vehicles capable of passing through the intersection in one signal period satisfies n<m, and having:
from this can be calculatedThe value of n. In the same way, ifThat is, the time required for all vehicles with queuing positions of 1 to m to leave the stop line does not exceed the green time, at this moment, n is more than or equal to m, and the following steps are provided:
from this can be calculatedThe value of n. On the other hand, after the vehicle enters the intersection, the GPS data of the vehicle can be acquired in real time, and once the GPS data shows that the speed of the vehicle is 0, the time corresponding to the GPS data is taken as the time t when the vehicle is parked for the first time and queued0. According to t0Can find such aSo that t is0Satisfies the following conditions:
wherein,is the red light start time of a certain signal period. When the vehicle is parked for the first time and queued, the state of the signal lamp at the intersection has two possible situations: red or green lights. If it isThe signal lamp is red when the vehicle is parked for the first time and queued; if it isThe signal light is green when the vehicle is in queue for the first time.
Through the analysis, the estimation problem of the travel time required by the vehicle from the time of the initial parking queue to the time of leaving the parking line is divided into the following four situations to be discussed according to the maximum number n of vehicles which can pass through in one signal period and the state of the signal lamp when the vehicle is parked and queued for the first time:
①(i.e., n.gtoreq.m) and(i.e. the signal lamp is red when the vehicle is in line for the first time parking)
If the signal lamp is red when the vehicle is parked for the first time and queued, the travel time from the moment to the moment when the vehicle is driven off the stop line consists of two parts: the time remaining at the red light when the vehicle is in line for the first time of parking, and the time from the turning on of the green light to the driving away from the parking line.
Vehicle at t0And (3) queuing for parking for the first time, if the signal lamp is red at the moment, the remaining time T' of the red lamp is as follows:
the vehicles need to continue to wait in line for the entire remaining time of the red light. Once the red light is finished, the green light is turned on, and the vehicles start to queue and drive away from the stop line.
If the queuing position of the vehicle does not exceed the maximum number of vehicles which can pass in one signal period, i.e. k0N is less than or equal to n, the vehicle is indicated to be inThe vehicle can drive off the stop line in one signal period without the conditions of secondary queuing and the like. Thus, the time T "required for the vehicle to travel off the stop line from the green light on is:
if the queue position of the vehicle exceeds the maximum number of vehicles that can pass in a signal period, i.e. k0>n, it means that the vehicle cannot drive out of the stop line in one signal period, it will experience two, three or even more parking queues, and the number p of queues the vehicle will experience satisfies:
from this k can be calculated0>n is the value of p, where k0Pn represents the queuing position of the vehicle after p times of queuing. Thus, the time T "required for the vehicle to travel from the first green light on to the last departure from the stop line is:
in particular, when k0When n is not more than n, the value of p can also be calculated using equation (6), and when p is 0, i.e. the number of queues the vehicle will experience is 0, as in the previous analysis. Meanwhile, formula (5) can be obtained by bringing formula (7) into which p is 0. Therefore, it is not necessary to distinguish k when obtaining T ″0N and k are not more than0>In both cases, formula (6) and formula (7) are directly used as general formulas for finding T'.
Therefore, the travel time T required for the vehicle to travel off the stop line from the time the vehicle is queued for the first stop is:
②(i.e., n.gtoreq.m) and(i.e. the signal lamp is green when the vehicle is in queue for the first time parking)
Vehicle at t0When the vehicle stops for the first time and queues up, if the signal lamp is green, the time T' of turning on the green lamp is as follows:
if the vehicle is parked and queued just after the green light is turned on in the cycle, the calculation method of the time T' required for the vehicle to leave the parking line from the turn-on time of the green light is the same as that in the first case, namely, the calculation can be performed by the formula (7). However, when the vehicle is queued for the first stop, the green light has been on for a while, and therefore the travel time T required for the vehicle to exit the stop line from the time of queuing for the first stop is:
it can be seen that formula (10) is the same as formula (8). Therefore, whenWhen n is larger than or equal to m, the travel time T required for the vehicle to leave the stop line from the time of the initial parking queue can be estimated by the expression (10) no matter whether the signal lamp is red or green when the vehicle is parked for the first time in the queue.
③(i.e., n)<m) and(i.e. the signal lamp is red when the vehicle is in line for the first time parking)
In this case, the travel time T required for the vehicle to leave the stop line from the time the vehicle was queued for the first stop is also made up of two parts: the remaining time T 'of the red light when the vehicle is in line for the first time of parking, and the time T' from the turning-on of the green light to the driving-off of the parking line. Wherein T 'can be calculated by equation (4), and the estimation method of T' is similar to that of the first case.
If k is0And n, the time T' required by the vehicle from turning on the green light to driving off the stop line is as follows:
if k is0>n, the number p of still experienced vehicle queues still satisfies the formula (6), and the time T' required by the vehicle from the first green light turning on to the last driving off the stop line is as follows:
similarly, when k0When n is not more than n, p is 0 by formula (6), and formula (11) is expressed by bringing p to 0 and formula (12). Therefore, in this case, it is also possible to obtain T' without distinguishing k0N and k are not more than0>In both cases, formula (12) is directly used as a general formula for finding T'.
Therefore, the travel time T required for the vehicle to travel off the stop line from the time the vehicle is queued for the first stop is:
④(i.e., n)<m) and(i.e. the signal lamp is green when the vehicle is in queue for the first time parking)
In this case, the method of estimating the travel time T required for the vehicle to travel away from the stop line from the time when the vehicle is queued for the first stop is similar to that in the second case.
The time T 'that the green light is turned on when the vehicle is parked and queued for the first time can still be calculated by the formula (9), and meanwhile, if the vehicle is parked and queued when the green light is turned on in the period, the calculation method of the time T' that the vehicle needs to drive away from the stop line from the turning-on time of the green light is the same as the third case, namely, the calculation can be carried out by the formula (12). Therefore, the travel time T required for the vehicle to travel off the stop line from the time the vehicle is queued for the first stop is:
it can be seen that formula (14) is the same as formula (13). Therefore, when(i.e., n)<m), the travel time T required for the vehicle to leave the stop line from the time of the initial parking queue can be estimated by the same equation (14) regardless of whether the traffic light is red or green when the vehicle is in the initial parking queue.
In addition, since the delay time is the difference between the travel time and the free time, the free time from the position at which the vehicle was queued for the first stop to the stop line is also calculated. The invention adopts the design speed of the motor vehicles at the plane intersection of the urban road as the vehicle smooth speed reference value of the intersection. Queuing if the vehicle is parked for the first timeWhen the distance between the vehicle and the stop line is L, the vehicle runs at the smooth speed vfFree time T when driving distance LfComprises the following steps:
Tf＝L/vf(15)
therefore, the vehicle is delayed from the time of queuing for the first parking to the time T of leaving the parking linedComprises the following steps:
Td＝T-Tf(16)
in conclusion, the invention provides a novel method for estimating the delay time of a single vehicle at a signalized intersection based on GPS data, which can realize real-time estimation of the delay time of the single vehicle passing through the intersection.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered in the protection scope of the present invention.

Claims (6)

1. The signal intersection single vehicle delay time estimation method based on GPS data is characterized by comprising the following steps: the method comprises the following steps:
selecting a driving direction on a signalized intersection and acquiring the head time distance of queued vehicles in the selected driving direction at a stop line; forming the distribution characteristic of the head time intervals of the queued vehicles;
acquiring signal timing parameters of a signal lamp in the selected driving direction, wherein the signal parameters comprise signal period duration TcTime length T of red lightrTime length T of green lightg＝Tc-TrAndstarting time of red light in each period;
acquiring vehicle GPS data; the vehicle GPS data comprises a current position, an instantaneous speed and a current time of the vehicle;
judging whether the instantaneous speed of the vehicle is 0 or not, if so, calculating the distance between the vehicle and a stop line at the intersection according to the current position information of the vehicle, and calculating and obtaining the queuing position of the vehicle;
and calculating the intersection single vehicle delay time according to the head time distance of the queued vehicles, the signal timing parameters of the intersection and the queuing positions of the vehicles.
2. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection is realized according to the following steps:
acquiring the saturated headway of the intersection from the mth queuing position, wherein the value of the saturated headway is Tb；
Obtaining the average values of the time distances between the heads of the vehicles with the queuing positions from 1 to m as Ti，i＝1,2,…,m；
If it is judged thatIf yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line exceeds the green light time, the intersection can pass through the maximum number n of the vehicles in one signal period, and n is<m, and having:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>&amp;le;</mo> <msub> <mi>T</mi> <mi>g</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <mi>n</mi> <mo>+</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>&gt;</mo> <msub> <mi>T</mi> <mi>g</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
is calculated to obtainThe value of time n;
if it is judged thatAnd if yes, the time required for all the vehicles with the queuing positions of 1 to m to leave the stop line does not exceed the green time, and n is more than or equal to m, and the method comprises the following steps:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <mi>n</mi> <mo>-</mo> <mn>5</mn> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>&amp;le;</mo> <msub> <mi>T</mi> <mi>g</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <mi>n</mi> <mo>+</mo> <mn>1</mn> <mo>-</mo> <mn>5</mn> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>&gt;</mo> <msub> <mi>T</mi> <mi>g</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
is calculated to obtainThe value of time n;
acquiring vehicle GPS data after a vehicle enters an intersection, and when the vehicle GPS data shows that the speed of the vehicle is 0, taking the time corresponding to the vehicle GPS data as the time t of the initial parking queue of the vehicle0；
According to the time t0The red light start time of the signal period is obtained in the following mannerSo that t is0Satisfies the following conditions:
<mrow> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>&amp;le;</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>&lt;</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>c</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
wherein,the starting time of the red light of a certain signal period;
determining the state of a signal lamp of the intersection when the vehicle is parked and queued for the first time according to the following modes:
if it isThe signal lamp is red when the vehicle is parked for the first time and queued; if it isThe signal lamp is green when the vehicle is parked for the first time and queued;
judging whether the following conditions are met:
①n is not less than m and
if the vehicle is in the queue, the signal lamp is red when the vehicle is parked for the first time;
determining a travel time required from a start to a vehicle leaving a stop line in the following manner; the travel time comprises the remaining time of a red light when the vehicle is parked for the first time and queued, and the time from turning on of a green light to driving away from a stop line;
vehicle at t0When the vehicle is parked and queued for the first time, if the signal lamp is red, the remaining time T' of the red lamp is as follows:
<mrow> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <mo>=</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
the vehicles continue to wait in line during the whole remaining time of the red light; when the red light is finished, the green light is turned on, and the vehicles start to queue and drive away from the stop line;
if the queuing position of the vehicle does not exceed the maximum number of vehicles which can pass in one signal period, i.e. k0N, the vehicle can drive off the stop line in one signal period, and the time T' required by the vehicle from the turning-on of the green light to the driving off of the stop line is calculated according to the following modes:
<mrow> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>&amp;le;</mo> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>m</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>m</mi> <mo>&lt;</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>&amp;le;</mo> <mi>n</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
if the queue position of the vehicle exceeds the maximum number of vehicles that can pass in a signal period, i.e. k0>n, the vehicle is not possible to drive out of the stop line in one signal period, and the number p of queuing times experienced by the vehicle is calculated according to the following mode:
<mrow> <mo>{</mo> <mtable> <mtr> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>n</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <mi>p</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> <mi>n</mi> <mo>&gt;</mo> <mi>n</mi> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
k is obtained by calculation0>n is the value of p, wherein k0Pn represents the queuing position of the vehicle after p times of queuing;
the time T' required by the vehicle from the first green light turn-on to the last driving off the stop line is as follows:
<mrow> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>-</mo> <mi>m</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>m</mi> <mo>&lt;</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>n</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
the travel time required for the vehicle to travel from the time the initial stop was queued to the stop line is calculated according to the following formula:
<mrow> <mi>T</mi> <mo>=</mo> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <mo>+</mo> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>-</mo> <mi>m</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>m</mi> <mo>&lt;</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>n</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
3. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
② are judged in the following mannerIf it is true, n is greater than or equal to m and
if true, the time T' "that the green light has been on is calculated according to the following equation:
<mrow> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>
wherein the vehicle is at t0Queuing for the first time of parking:
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
<mrow> <mtable> <mtr> <mtd> <mrow> <mi>T</mi> <mo>=</mo> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>-</mo> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>-</mo> <mo>&amp;lsqb;</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>-</mo> <mi>m</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>-</mo> <mo>&amp;lsqb;</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>m</mi> <mo>&lt;</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>n</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mi>n</mi> </msub> <mo>&amp;le;</mo> <mi>m</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>-</mo> <mi>m</mi> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>b</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mi>m</mi> <mo>&lt;</mo> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> <mo>&amp;le;</mo> <mi>n</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
4. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
③ is judged whether the following conditions are satisfiedI.e. n<m andnamely the signal lamp is red when the vehicle is parked for the first time and queued;
if k is0And n, calculating the time T' required by the vehicle from the turning-on of the green light to the driving away from the stop line according to the following formula:
<mrow> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>11</mn> <mo>)</mo> </mrow> </mrow>
if k is0>n, calculating the queuing times p of the vehicle according to the following formula, wherein the time T' required by the vehicle from the first green light on to the last driving off the stop line is as follows:
<mrow> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>12</mn> <mo>)</mo> </mrow> </mrow>
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
<mrow> <mi>T</mi> <mo>=</mo> <msup> <mi>T</mi> <mo>&amp;prime;</mo> </msup> <mo>+</mo> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>13</mn> <mo>)</mo> </mrow> </mrow>
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
5. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: the calculation of the delay time of the single vehicle at the intersection further comprises the following steps:
④ is judged whether the following conditions are satisfiedI.e. n<m andnamely the signal lamp is green when the vehicle is parked for the first time and queued;
calculating the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line according to the following formula:
<mrow> <mi>T</mi> <mo>=</mo> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>-</mo> <msup> <mi>T</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mo>=</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>-</mo> <mo>&amp;lsqb;</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>=</mo> <msubsup> <mi>t</mi> <mrow> <mi>s</mi> <mi>t</mi> <mi>a</mi> <mi>r</mi> <mi>t</mi> </mrow> <mi>j</mi> </msubsup> <mo>+</mo> <msub> <mi>T</mi> <mi>r</mi> </msub> <mo>-</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>pT</mi> <mi>c</mi> </msub> <mo>+</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <msub> <mi>k</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>p</mi> <mi>n</mi> </mrow> </munderover> <msub> <mi>T</mi> <mi>i</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>14</mn> <mo>)</mo> </mrow> </mrow>
wherein T is the travel time required by the vehicle from the time when the vehicle is queued for the first stop to the time when the vehicle leaves the stop line.
6. The method for estimating the signalized intersection single car delay time based on the GPS data according to claim 1, wherein: further comprising the steps of:
calculating the smooth driving time of the vehicle from the position of the initial parking queue to the parking line according to the following formula;
Tf＝L/vf(15)
wherein L is the distance between the vehicle and the stop line when the vehicle is in the queue for the first time of parking, and T isfAt a smooth speed v for the vehiclefFree time when the vehicle travels a distance L;
the vehicle still needs time delay from the time of queuing for the first parking to the time of leaving the parking line according to the following formula:
Td＝T-Tf(16)
wherein, TdThere is a delay time for the vehicle to exit the stop line from the time it was queued for the first stop.
CN201710654090.XA 2017-08-03 2017-08-03 Signal intersection single vehicle delay time estimation method based on GPS data Active CN107274672B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710654090.XA CN107274672B (en) 2017-08-03 2017-08-03 Signal intersection single vehicle delay time estimation method based on GPS data

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710654090.XA CN107274672B (en) 2017-08-03 2017-08-03 Signal intersection single vehicle delay time estimation method based on GPS data

Publications (2)

Publication Number Publication Date
CN107274672A true CN107274672A (en) 2017-10-20
CN107274672B CN107274672B (en) 2020-02-14

Family

ID=60076336

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710654090.XA Active CN107274672B (en) 2017-08-03 2017-08-03 Signal intersection single vehicle delay time estimation method based on GPS data

Country Status (1)

Country Link
CN (1) CN107274672B (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108447263A (en) * 2018-04-18 2018-08-24 北京交通大学 The signal of Arterial Coordination Control intersection based on Floating Car controls evaluation method
CN109191836A (en) * 2018-09-05 2019-01-11 昆明理工大学 A kind of real-time divided lane vehicle delay prediction technique based on IQA
CN110751826A (en) * 2019-10-30 2020-02-04 浙江大华技术股份有限公司 Vehicle queuing determination method and related device
CN110838228A (en) * 2019-10-18 2020-02-25 东南大学 Intelligent interactive driving system and device for commercial truck fleet
CN111198379A (en) * 2018-11-19 2020-05-26 陕西汽车集团有限责任公司 Searching and positioning method for unloading position of unmanned transport vehicle
CN111613051A (en) * 2019-02-25 2020-09-01 北京嘀嘀无限科技发展有限公司 Method and device for estimating saturated headway
CN111882860A (en) * 2020-06-05 2020-11-03 北京百度网讯科技有限公司 Lane adjusting method and device
CN113140113A (en) * 2021-06-23 2021-07-20 华砺智行(武汉)科技有限公司 Traffic flow delay evaluation method and system based on Internet of vehicles and storage medium
CN114170801A (en) * 2021-12-07 2022-03-11 中国第一汽车股份有限公司 Method and device for determining crossing passage time, electronic terminal and storage medium
CN114822050A (en) * 2022-03-30 2022-07-29 阿里巴巴（中国）有限公司 Road condition identification method, electronic equipment and computer program product
CN115100884A (en) * 2022-06-30 2022-09-23 上海应用技术大学 Single-point traffic induction control method based on single-vehicle delay

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040147291A1 (en) * 2003-01-17 2004-07-29 Kee Zhang Mobile event triggering function for transit management system using traffic signal priority
CN101477747A (en) * 2009-01-05 2009-07-08 东南大学 Signal control method for high density road grid in traffic rush hour
CN104408914A (en) * 2014-10-31 2015-03-11 重庆大学 Signal intersection single vehicle stopping delay time estimating method and system based on GPS data
CN104615897A (en) * 2015-02-13 2015-05-13 北方工业大学 Road section travel time estimation method based on low-frequency GPS data
CN106097718A (en) * 2016-08-23 2016-11-09 重庆大学 Signal cross port area transit time method of estimation based on gps data

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040147291A1 (en) * 2003-01-17 2004-07-29 Kee Zhang Mobile event triggering function for transit management system using traffic signal priority
CN101477747A (en) * 2009-01-05 2009-07-08 东南大学 Signal control method for high density road grid in traffic rush hour
CN104408914A (en) * 2014-10-31 2015-03-11 重庆大学 Signal intersection single vehicle stopping delay time estimating method and system based on GPS data
CN104615897A (en) * 2015-02-13 2015-05-13 北方工业大学 Road section travel time estimation method based on low-frequency GPS data
CN106097718A (en) * 2016-08-23 2016-11-09 重庆大学 Signal cross port area transit time method of estimation based on gps data

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
乔真卿: "信号交叉口单车停车延误时间与停车位置的关系模型研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 *
王志建: "低频GPS 数据和交叉口延误下的", 《西南交通大学学报》 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108447263A (en) * 2018-04-18 2018-08-24 北京交通大学 The signal of Arterial Coordination Control intersection based on Floating Car controls evaluation method
CN109191836A (en) * 2018-09-05 2019-01-11 昆明理工大学 A kind of real-time divided lane vehicle delay prediction technique based on IQA
CN109191836B (en) * 2018-09-05 2021-03-02 昆明理工大学 IQA-based real-time lane-dividing vehicle delay prediction method
CN111198379B (en) * 2018-11-19 2024-02-13 陕西汽车集团股份有限公司 Method for searching and positioning unloading position of unmanned transport vehicle
CN111198379A (en) * 2018-11-19 2020-05-26 陕西汽车集团有限责任公司 Searching and positioning method for unloading position of unmanned transport vehicle
CN111613051A (en) * 2019-02-25 2020-09-01 北京嘀嘀无限科技发展有限公司 Method and device for estimating saturated headway
CN111613051B (en) * 2019-02-25 2022-02-25 北京嘀嘀无限科技发展有限公司 Method and device for estimating saturated headway
CN110838228A (en) * 2019-10-18 2020-02-25 东南大学 Intelligent interactive driving system and device for commercial truck fleet
CN110751826B (en) * 2019-10-30 2021-07-06 浙江大华技术股份有限公司 Vehicle queuing determination method and related device
CN110751826A (en) * 2019-10-30 2020-02-04 浙江大华技术股份有限公司 Vehicle queuing determination method and related device
CN111882860A (en) * 2020-06-05 2020-11-03 北京百度网讯科技有限公司 Lane adjusting method and device
CN113140113A (en) * 2021-06-23 2021-07-20 华砺智行(武汉)科技有限公司 Traffic flow delay evaluation method and system based on Internet of vehicles and storage medium
CN114170801A (en) * 2021-12-07 2022-03-11 中国第一汽车股份有限公司 Method and device for determining crossing passage time, electronic terminal and storage medium
CN114822050A (en) * 2022-03-30 2022-07-29 阿里巴巴（中国）有限公司 Road condition identification method, electronic equipment and computer program product
CN115100884A (en) * 2022-06-30 2022-09-23 上海应用技术大学 Single-point traffic induction control method based on single-vehicle delay
CN115100884B (en) * 2022-06-30 2023-10-27 上海应用技术大学 Single-point traffic induction control method based on bicycle delay

Also Published As

Publication number Publication date
CN107274672B (en) 2020-02-14

Similar Documents

Publication Publication Date Title
CN107274672B (en) Signal intersection single vehicle delay time estimation method based on GPS data
CN108831143B (en) Signal intersection fleet speed guiding method based on vehicle-road cooperation technology
CN106355907B (en) Signalized crossing queue length real-time estimation method based on track of vehicle
CN109191876B (en) Special vehicle traffic guidance system based on Internet of vehicles technology and control method thereof
WO2018171464A1 (en) Method, apparatus and system for planning vehicle speed according to navigation path
JP5009143B2 (en) Traffic signal control apparatus, program and method
CN102364548B (en) Bus priority method based on intermittent special lane
JP4743523B2 (en) Prediction system for vehicle behavior at intersections
CN110533946B (en) Single-point intersection vehicle speed optimization method under mixed-traveling environment based on edge calculation
JP5562691B2 (en) Congestion time calculation device, departure time calculation device, no traffic time calculation device, and program
CN103198686B (en) Vehicle speed induction control method for reducing probability that vehicle breaks yellow light
CN103927866B (en) Traffic light time Forecasting Methodology waited for by vehicle based on GPS
WO2022166239A1 (en) Vehicle travel scheme planning method and apparatus, and storage medium
CN109493593B (en) Bus running track optimization method considering comfort level
CN104064044A (en) Engine start-stop control system and method based on vehicle-road coordination
CN103158714A (en) System and method of assisting driver in driving electric vehicle in more environmentally efficient manner
CN107862121B (en) Electric automobile energy consumption model design method and system based on green wave band
CN105809993B (en) Method for calculating intersection signal lamp timing based on vehicle stop line passing time
CN105096643A (en) Real-time bus arrival time prediction method based on operation data of former buses in multiple lines
CN110969845B (en) Intelligent vehicle speed control method and system based on vehicle-road cooperation
CN104537209A (en) Method for judging vehicle running road types based on hidden Markov model
CN108489500A (en) A kind of global path planning method and system based on Energy Consumption Economy
CN111402613B (en) Method for selecting lane of toll station for automatically driving vehicle
CN104750963A (en) Intersection delay time estimation method and device
CN110706484A (en) Calculation method for left-turn traffic capacity of intersection with reverse variable lanes

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20230214

Address after: 213399 room 5025, building B, 218 Hongkou Road, Kunlun Street, Liyang City, Changzhou City, Jiangsu Province

Patentee after: Liyang Smart City Research Institute of Chongqing University

Address before: 400044 No. 174, positive street, Shapingba District, Chongqing

Patentee before: Chongqing University