CN107331159A - A kind of traffic major trunk roads velocity estimation apparatus based on coil checker data - Google Patents
A kind of traffic major trunk roads velocity estimation apparatus based on coil checker data Download PDFInfo
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- CN107331159A CN107331159A CN201710704414.6A CN201710704414A CN107331159A CN 107331159 A CN107331159 A CN 107331159A CN 201710704414 A CN201710704414 A CN 201710704414A CN 107331159 A CN107331159 A CN 107331159A
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- 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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
A kind of traffic major trunk roads velocity estimation apparatus based on coil checker data, including central processing unit (CPU) and data storage, central processing unit perform following calculation procedure：Coil checker data, section geometric attribute, signal timing dial parameter and the saturation volume constant that pre-sets are obtained as input parameter, calculate after the travel time for obtaining upstream section and middle section, and then calculate the average link speed in upstream and middle section.
Description
Technical field
The invention belongs to technical field of intelligent traffic, more particularly to a kind of traffic major trunk roads based on coil checker data
Velocity estimation apparatus.
Background technology
In recent years, with the gradually popularization of advanced passenger information system and Intelligent traffic management systems, various modes are passed through
It is more and more important that accurate Path Travel Time is provided for traveler.Therefore, accurately real time traffic data is obtained, that is, goes out scanning frequency
Degree or travel time, the successful popularization to the two systems is of great importance.
In traffic planninng, Path Travel Time is to select Path selection, departure time etc. content of interest, but
It is for specific origin and destination.If the substantial amounts of origin and destination demand combinations of user got up, advanced passenger information system
System and Intelligent traffic management systems can provide the road information of section rank.Once being deep into section rank, speed will be one
It is more more sensitive than travel time, more accurately measure to describe traffic.
Equipped with the Floating Car of advanced alignment system, to be extensive utilization measure the one of section speed or travel time
The measure of kind, they can obtain more accurate spatial information than static equipment, but due to market limitation, to most of trunk roads
For, the quantity of Floating Car is all not enough to provide believable data.And coil checker is probably the one kind for measuring section speed
Alternate data source.
Existing file before this is disclosed three kinds of velocity estimation models the most advanced, is Britain's model, Illinois respectively
Her model and Iowa model0.The input of these three models is wagon flow and occupation rate that coil checker is measured, and signal lamp is matched somebody with somebody
When parameter and some roads geometric parameter.The first two model is linear regression model (LRM), and the 3rd model is nonlinear regression mould
Type, therefore these model parameters are required for the data of locality to be demarcated.But in practical operation, carrying out demarcation is
One more unworkable step.
Open file of the present invention has：
[1]Zhang,H.M.(1998).“A link journey speed model for arterial
traffic.”Transp.Res.Rec.1676,Transportation Research Board,Washington,D.C.,
1998,109–115.
The content of the invention
The trunk roads flow speeds estimation model of existing use coil checker data is required to the data of locality
Demarcated, this can cause many troubles when practical operation.The present invention proposes a kind of based on coil checker data
Need not demarcate traffic major trunk roads velocity estimation model, and carried out estimated accuracy contrast with existing above-mentioned three kinds of models.
The technical scheme is that, a kind of traffic major trunk roads velocity estimation apparatus based on coil checker data, bag
Central processing unit (CPU) and data storage are included, central processing unit performs following calculation procedure：
Obtain coil checker data, section geometric attribute, signal timing dial parameter and the saturation volume constant pre-set
As input parameter, calculate after the travel time for obtaining upstream section and middle section, and then calculate upstream and middle section
Average link speed, wherein have,
The travel time in upstream section and middle section is divided into two parts, including：When cruise time and signal delay
Between, i.e.
Travel time=cruise time+signal delay time
Wherein, the cruise time represents not consider the average time that vehicle passes through section during downstream signal lamp；
Signal delay time represent due to caused by downstream signal lamp section go on a journey the delay time at stop,
Cruise time is calculated by formula (1) and obtained：
Wherein, L1Represent research road section length, udetIt is that upstream section and downstream road section coil checker are obtained in data
Maximal rate, or any coil detector in middle section speed data, signal delay time by the weber that simplifies this
Special formula (2) calculates and obtained：
Wherein, coefficient φ detailed expressions are as follows：
Wherein, x represents section degree of saturation；Q represents link flow (pcu/h)；
λ represents effective green time ratio, i.e. green time g divided by circulation total duration C.
Beneficial effects of the present invention can be obtained from the embodiment of the present invention according to the Road average-speed of all vehicles
Estimating speed figure, i.e., shown in Fig. 5.The result of the accompanying drawing shows that two rank mean square deviations of velocity estimation are less than 5km/h, and this is also explained
Absolute velocity numerical error error under 95% confidence level is less than 5km/h.
Other three kinds of models beyond the present invention program are contrasted, the model estimated accuracy of the present invention program is better than Britain and Chinese mugwort
Watt model difficult to understand, only than Illinois model slightly almost.But, because technical solution of the present invention is without being demarcated, in reality
More facilitate in operation and implement.
Brief description of the drawings
Detailed description below, above-mentioned and other mesh of exemplary embodiment of the invention are read by reference to accompanying drawing
, feature and advantage will become prone to understand.In the accompanying drawings, if showing the present invention's by way of example, and not by way of limitation
Dry embodiment, wherein：
Fig. 1 is the node section figure of test network in the embodiment of the present invention
Fig. 2 is detector position and section in the embodiment of the present invention；
Fig. 3 is that figure is compared in the velocity space distribution in the embodiment of the present invention on 3 sections.
Fig. 4 is signal delay and coefficient figure in certainty queueing theory of the present invention.
Fig. 5 is the speed and the comparison diagram of rolling stock average speed that model estimation of the present invention is obtained.
Fig. 6 is the speed obtained using the estimation of the present invention program model, Britain's model, Illinois model and Iowa model
The comparison diagram of degree and rolling stock average speed.
Embodiment
The present invention is using coil checker data, section geometric attribute, signal timing dial parameter and the saturated flow pre-set
Amount constant is used as input parameter.Once estimation obtains the travel time in upstream and middle section, so that it may calculate upstream and centre
The average link speed in section.
Unlike the travel time of highway estimates that the Major Difficulties that the trunk roads travel time is estimated are there is downstream road
The delay that segment signal facility is caused, therefore any delay caused by traffic signals should be all counted into the travel time.Upstream and
The travel time in middle section can be divided into two parts：Cruise time and signal delay time, i.e.,
Travel time=cruise time+signal delay time
Wherein, the cruise time represents not consider the average time that vehicle passes through section during downstream signal lamp；During signal delay
Between represent due to caused by downstream signal lamp section go on a journey the delay time at stop.Cruise time is longer than the free flow time because have with
Car and vehicle lane change cause the reciprocal effect of vehicle.
Cruise time is calculated by below equation and obtained：
Wherein, L1Represent research road section length, udetIt is that the maximum that upstream and downstream coil detector are obtained in data is fast
Degree, or the middle any detector in section speed data.Part explanation can be embodied below for detail.
Signal delay time is calculated by the Robert Webster formula of following simplification and obtained：
Wherein, coefficient φ detailed expressions are as follows：
Specific description details is same to be illustrated in following specific implementation part.
On the estimation of cruise time, the present invention program has carried out many Simulating Test Studies and has selected different vehicle on section
Speed and analyze detection spot speed and space mean speed between relation.As shown in figure 3, the input data of the experiment be every
The average speed value that the coil checker of 20 meters of settings is obtained, these curves reflect the spatial distribution of car speed on section.
It can be seen that, the middle section speed of curve is very steady in figure, thus any one coil checker data can by regarding
For cruising speed.In upstream section and the end of downstream road section, vehicle average speed has the reduction amplitude in 15km/h, Bu Guozong
For, the range of decrease at downstream road section end is bigger.The reason for causing this point, which is that vehicle is natural on spacious road, to be accelerated, but
It is that on medium or even congestion section, vehicle can be waited in line to influence speed because of downstream road section signal lamp at road junction, from
And underestimate road cruising speed.From the point of view of contrast, the detector speed in upstream section can estimate the finer selection of cruising speed.
In the case of only two detector datas, this programme presenter is directly substituted into the average cruise speed in larger speed representation section
Degree, Fig. 3 analysis also demonstrate that such selection can choose relatively more accurate average link estimate.If in addition,
When traffic is good, the speed of downstream detector is almost identical with upstream section, or even is slightly larger than its speed, therefore it
Also average cruising speed can be represented well.
For the estimation of signal delay time, Robert Webster formula be normally used for determining close to crossing stop line each
The average signal delay of car.This programme, which proposes a kind of method and this delay is included in section velocity estimation interested, (to be led to
It is often the section at 50-100 meters of stop line upstream).The expression formula of Robert Webster formula is as follows：
Wherein, x represents section degree of saturation；Q represents link flow (pcu/h)；λ represents effective green time ratio (i.e.
Green time g divided by circulation total duration C).The right half of Part I of formula represents the signal that vehicle uniformly reaches fixed timing
Mean delay time during lamp crossing, this draws according to certainty queueing theory.Part II consider vehicle arrival with
Machine attribute (is queued up and overflowed), and when section degree of saturation is relatively low, the influence of random fluctuation can be ignored, but with saturation journey
During degree rise, the influence also increases therewith.Part III is an empirical calibration factor, and it is a deduction item, number range from
Zero arrives the numerical value of Part II, and random arrival situation is corresponded to respectively and arrival situation is uniformly distributed.
What Robert Webster formula was estimated is the total delay time in Signalized control section, but required is studied in this programme
It is the time delay (section of stop line upstream L2 distances in Fig. 2) for specifying section, therefore inlet coefficient φ represents selected section
Ratio between signal delay and resultant signal delay.Meanwhile, by the investigation to data set, Part I is in resultant signal delay
Accounting reach 93%, therefore calculate for convenience, only the Part I (being uniformly distributed delay) of Robert Webster formula by with
In derivation after.
Fig. 4 is elaborated how to derive the Part I of Robert Webster formula and how to be obtained coefficient φ.Straight line BC's and AC
Slope represents vehicle arriving rate and discharge rate, the part of the length representative section downstream part L2 length of DD ' line segments respectively.Straight line
I and II is parallel to straight line BC.Be apparent from, triangle ABC area represents the accumulating signal delay of all vehicles in section, and weber this
The each car mean delay that special formula Part I is provided is that the vehicle in section in above-mentioned zone area divided by a circulation passes through
Total Cq.Obtained triangle AB ' C ' areas are cut by straight line I and represent upstream and middle section (away from stop line L2 above sections)
The accumulative delay of all vehicles, same divided by CqObtain vehicles average delay.Therefore coefficient φ is triangle AB ' C ' and ABC
Area ratio, can also be represented by line segment AD ' and AD length ratio.If L2 length is more than line segment AD length, straight line
II can not cut triangle ABC, it means that, signal lamp does not produce queuing delay, i.e. φ=0 to research section.Coefficient φ's
Expression formula is as follows：
One two more practical and universal Robert Webster formula is,
Signal delay is calculated using this formula, during multiplied by being obtained with coefficient φ apart from the signal delay in stop line L2 sections
Between.
For the checking present invention, the emulation road network of the specific experiment of progress is as shown in figure 1, there is eight sections of coil checker
The information such as section numbering, road section length, detector location it is as shown in table 1, the implication of each length parameter is referring to Fig. 2.
The specific example that two sections are given below illustrates the calculating process of this programme model：
As shown in figure 3, when origin and destination flow is 50%, two coil checker middle and upper reaches detectors on section 53
Registration is 37km/h, and the registration of downstream display is 40km/h, and the circulation total duration at crossing is 100s, and green time is 60s, road
Duan Liuliang is 600pcu/h.Therefore,
The travel time in ∴ sections 53=18.63+11.55=30.18s
When origin and destination flow is 50%, the registration of two coil checker middle and upper reaches detectors on section 117 is
41km/h, the registration of downstream display is 43km/h, and the circulation total duration at crossing is 80s, and green time is 55s, link flow
For 700pcu/h.Therefore,
Table 1 is the position of detector in road section length and selected section；Table 2 is the demarcation of three models outside this programme
As a result；Table 3 is the regression result analysis of four models.
The position of detector in the road section length of form 1 and selected section
The calibration result of three models outside this programme of form 2
aThe free stream velocity in 10 selected sections is different in reality and emulation, and its distribution is 35.0-
55.0km/h。
bParameter of measurement γ is 0.5 in this research.
The regression result analysis of 3 four models of form
Fig. 5 is the speed and the comparison diagram of rolling stock average speed that model estimation of the present invention is obtained.Fig. 6 is to utilize this hair
Speed and rolling stock average speed that bright scheme model, Britain's model, Illinois model and the estimation of Iowa model are obtained
Comparison diagram.Data set source is 2.0 versions based on microscopic traffic simulation platform INTEGRATION, and stochastic inputs are not gone the same way
Different the beginning and the end flows and different vehicle head interval distributions of section, obtain 288 road speeds simulation results.Then by its random point
For impartial two datasets, wherein, data set 1 is used for the structure and other three kinds of models of model of the present invention in Fig. 5 embodiments
Parameter calibration；Data set 2 is used for the comparison of four kinds of model accuracies in Fig. 6 embodiments.
What deserves to be explained is, although foregoing teachings describe the essence of the invention by reference to some embodiments
God and principle, it should be appreciated that, the present invention is not limited to disclosed embodiment, the division also unawareness to each side
The feature that taste in these aspects can not be combined, this to divide merely to the convenience of statement.It is contemplated that covering appended power
Included various modifications and equivalent arrangements in the spirit and scope that profit is required.
Claims (1)
1. a kind of traffic major trunk roads velocity estimation apparatus based on coil checker data, including central processing unit (CPU) sum
According to memory, central processing unit performs following calculation procedure：
Obtain coil checker data, section geometric attribute, signal timing dial parameter and the saturation volume constant conduct pre-set
Input parameter, was calculated after the travel time for obtaining upstream section and middle section, and then calculated the flat of upstream and middle section
Equal section speed, wherein have,
The travel time in upstream section and middle section is divided into two parts, including：Cruise time and signal delay time,
That is,
Travel time=cruise time+signal delay time
Wherein, the cruise time represents not consider the average time that vehicle passes through section during downstream signal lamp；
Signal delay time represent due to caused by downstream signal lamp section go on a journey the delay time at stop,
Cruise time is calculated by formula (1) and obtained：
Wherein, L1Represent research road section length, udetIt is the maximum in upstream section and downstream road section coil checker acquisition data
Speed, or any coil detector in middle section speed data,
Signal delay time is calculated by the Robert Webster formula (2) simplified and obtained：
Wherein, coefficient φ detailed expressions are as follows：
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Wherein, x represents section degree of saturation；Q represents link flow (pcu/h)；
λ represents effective green time ratio, i.e. green time g divided by circulation total duration C.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110517510A (en) * | 2019-08-27 | 2019-11-29 | 华侨大学 | Based on the Intersections timing designing method for improving Webster function and genetic algorithm |
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| CN1710624A (en) * | 2005-06-02 | 2005-12-21 | 上海交通大学 | Method for obtaining average speed of city rode traffic low region |
| CN1937001A (en) * | 2006-10-19 | 2007-03-28 | 上海交通大学 | Method for obtaining everage speed of city road section traffic flow |
| CN105206071A (en) * | 2015-09-21 | 2015-12-30 | 苏州派瑞雷尔智能科技有限公司 | Intersection timing method based on mixed traffic flow delay model |
| US20160171886A1 (en) * | 2003-05-09 | 2016-06-16 | Dimitri Vorona | System and method for processing, receiving, and displaying traffic information |
-
2017
- 2017-08-17 CN CN201710704414.6A patent/CN107331159A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160171886A1 (en) * | 2003-05-09 | 2016-06-16 | Dimitri Vorona | System and method for processing, receiving, and displaying traffic information |
| CN1710624A (en) * | 2005-06-02 | 2005-12-21 | 上海交通大学 | Method for obtaining average speed of city rode traffic low region |
| CN1937001A (en) * | 2006-10-19 | 2007-03-28 | 上海交通大学 | Method for obtaining everage speed of city road section traffic flow |
| CN105206071A (en) * | 2015-09-21 | 2015-12-30 | 苏州派瑞雷尔智能科技有限公司 | Intersection timing method based on mixed traffic flow delay model |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110517510A (en) * | 2019-08-27 | 2019-11-29 | 华侨大学 | Based on the Intersections timing designing method for improving Webster function and genetic algorithm |
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