CN107507415A - Road network border Current limited Control method based on MFD and queue length under car networking - Google Patents
Road network border Current limited Control method based on MFD and queue length under car networking Download PDFInfo
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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Abstract
The present invention relates to control method technical field, more particularly, to a kind of method of the road network border Current limited Control strategy based on MFD and queue length under car networking, comprises the following steps that：(a) traffic parameter is obtained first；GPS mobile units are each attached on vehicle, send the information such as longitude and latitude and speed in real time；(b) secondly, whether that delimit the vehicle in road network region meet condition, and fallen in road network region according to condition criterion mobile vehicle；(c) again, each vehicle on each section is reached into each import 'STOP' line ahead to be calculated, and finally draws maximum queue length qLmax(i), it is the safe queue length Lsi in section to take the 95% of road section length Li, by qLmax(i)Judge whether vehicle causes upstream intersection traffic congestion occur compared with Lsi；(d) finally, Current limited Control is carried out to border traffic；When road network tends to congestion, simple border Current limited Control is implemented to road network.The present invention is under car networking environment, vehicle number and section maximum queue length in real-time road network.
Description
Technical Field
The invention relates to the technical field of control methods, in particular to a road network boundary current limiting control strategy method based on MFD and queuing length in the Internet of vehicles.
Background
With the rapid development of social economy, the automobile holding capacity is greatly increased, the urban traffic jam problem is worsened, and the urban traffic jam problem becomes one of the bottlenecks of urban development. In order to reduce the delay time and the queuing length of vehicles and relieve traffic jam, most of large cities adopt an advanced traffic control technology and implement an intelligent traffic signal control system. However, as the number of traffic flows increases, the oversaturated traffic phenomenon appears in part of urban traffic, and the effect of the original traffic control system is affected. Two scholars of Daganzo and Geroliminis recently studied a lot of actual traffic data, and found that there is a certain objective regularity in the urban traffic network, namely the relation between the traffic running state of the network and the number of moving vehicles, which is called as a Macroscopic Fundamental Diagrams (MFD), and the popularity of the Macroscopic Fundamental Diagrams is also confirmed by a plurality of scholars through a lot of actual data. And partial scholars propose to utilize a macro basic graph correlation theory to carry out traffic control on the oversaturated traffic area so as to improve the congestion condition of the oversaturated traffic area. The idea that traffic signal control can be performed on a road network from a macro layer by using MFD is proposed as Ma Yingying; du Yiman and the like provide a regional traffic total dynamic regulation and control technology based on a macroscopic basic diagram; mehdi et al have studied the feedback gate control method based on network MFD, yosh et al propose the regional measurement control method based on macroscopic basic diagram to the supersaturated road network, and have verified the validity of the method; the authors have proposed a road network simple boundary current-limiting control strategy based on MFD and verified its effectiveness. Through further research, a writer thinks that when a road network implements a peripheral traffic flow limiting strategy, the condition that vehicles at a peripheral flow limiting intersection queue and overflow to cause congestion at an upstream intersection should be avoided, but how to judge whether the overflow phenomenon occurs at a boundary road section in real time becomes a key point of the problem. Recently, the technology of internet of vehicles is vigorously developed in various countries, the internet of vehicles is the development direction of intelligent traffic systems, and under the environment of the internet of vehicles, information such as vehicle positions, speeds and the like can be uploaded to a command center in real time through a vehicle-mounted terminal and a road side unit, so that a reliable means is provided for determining the number of vehicles in the road network and the queuing length in real time, and opportunities and conditions are provided for improving traffic signal control. .
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a road network boundary current-limiting control strategy method based on MFD and queuing length under the Internet of vehicles.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the road network boundary current-limiting control method based on the MFD and the queuing length in the Internet of vehicles is provided, and comprises the following specific steps:
(a) Firstly, acquiring traffic parameters; mounting GPS vehicle-mounted equipment on a vehicle, and transmitting information such as longitude, latitude, speed and the like in real time;
(b) Secondly, defining the meeting conditions of the vehicles in the road network area, and judging whether the mobile vehicles fall in the road network area according to the conditions; guiding a line from the longitude and latitude points of the vehicle to be judged to a certain direction, calculating the number of intersection points with the road network boundary, wherein if the number is an even number or 0, the point is outside the road network area, and if the number is an odd number, the point is inside the road network area; converting the number of vehicles falling in the road network area into equivalent traffic volume, and determining the number N of the vehicles in the road network and the flow qi (i represents the ith road section) of each road section;
(c) Thirdly, calculating the distance from each vehicle on each road section to each parking line at each entrance, and finally obtaining the maximum queuing length q Lmax(i) Taking 95% of the road section length Li as the road section safe queuing length Lsi, and taking q as the road section safe queuing length Lsi Lmax(i) Comparing the traffic congestion with Lsi to judge whether the traffic congestion occurs at the upstream intersection or not; if q is Lmax(i) ≥L si The vehicles can be caused to queue and overflow to the upstream intersection, so that the traffic jam occurs at the upstream intersection;
(d) Finally, carrying out current limiting control on the boundary traffic; and when the road network tends to be congested, simple boundary current limiting control is implemented on the road network.
The invention relates to a road network boundary current-limiting control strategy method based on MFD and queuing length under an Internet of vehicles, which is characterized in that the number of vehicles in a road network and the maximum queuing length of road sections are real-time under the environment of the Internet of vehicles, and whether the maximum queuing length of each boundary road section exceeds the safe queuing length of the road section or not is judged in real time according to a macroscopic basic graph when a peripheral traffic current-limiting control strategy is implemented on the road network, so that the road network inrush rate is adjusted in time, and the overflow phenomenon of the boundary road sections is avoided.
Preferably, in step (c), the maximum queuing length q is derived Lmax(i) The steps are as follows:
(A) Firstly, the distance from each vehicle to each entrance parking line is calculated, and the calculation formula is as follows:
in the formula: dij-the distance from the jth vehicle on the ith road segment to the entrance stop line of the road segment;
ajij, AWij-the longitude and latitude of the jth vehicle on the ith road section;
BJ ij ,BW ij -longitude and latitude of an entrance stop line on the ith road section;
(B) After step (a), the set of distances for the vehicle to reach the stop line on each road segment is denoted as D, and is represented as:
D＝{d ij |i∈L,j∈N}；
the set of instantaneous vehicle speeds is denoted V and is expressed as:
V＝{v ij |i∈L,j∈N}
in the formula, vij is the instantaneous speed of the jth vehicle on the ith road section;
(C) After step (B), defining the vehicles with the instantaneous speed v less than or equal to 5km/h as the parking queuing vehicles, thereby obtaining the queuing length set of all the parking queuing vehicles on the road section, which is expressed as QL:
Q L ＝{d ij ，v ij i belongs to L, j belongs to N, and v ij ≤5}
Thereby obtaining the maximum queuing length q of the vehicles on the ith road section Lmax (i) Can be represented as
q Lmax(i) ＝max(Q Li )
Thereby finally obtaining the maximum queuing length q Lmax(i) 。
Preferably, in step (d), when the road network tends to be congested, simple boundary current limiting control is performed on the road network, and the specific steps utilize the following formula:
in the formula: t-a certain time (h);
Δ t — time step (h);
q G -controlled road network boundary traffic inflow (pcu/h);
i-traffic inflow amount (pcu/h) at t moment of road network, I i (t) represents the inflow amount of the traffic stream at the ith inlet at time t (pcu/h),
I(t)＝∑I i (t)；
o (t) -the road network surge amount at a certain time (pcu/h);
R in -the ingress rate (allowable ratio of traffic ingress);
according to the allowable inflow amount I of traffic flow i (t + delta t), recalculating the current limit by Webster timing methodAnd the optimal signal period of each later boundary intersection.
Preferably, the specific steps are as follows:
(1) When N (t) is not less than N C When the road network is in a crowded state;
(2) When the vehicle enters the congestion state, calculating the maximum number q of queued vehicles at each entrance of all the boundary intersections at the time t Lmax(i) (t) if q Lmax(i) ≥L si If so, the intersection inlet does not implement a peripheral current limiting strategy, and a Webster method is adopted to carry out timing design according to actual traffic requirements; defining a variable q m (t) is used for counting all boundary intersection flow limiting values which are not suitable for implementing the peripheral flow limiting strategy, and variable q m (t) can be expressed as:
in the formula, s represents the number of the inlet road section of the boundary intersection which is not suitable for current limiting;
if q is m (t) =0, then press R in Implementing a peripheral current limiting strategy on the inrush rate; if q is m (t)>, 0, then q is m (t) averagely shifting to other boundary intersections, and readjusting inflow rate R' in 。
Preferably, R 'is derived' in The method comprises the following specific steps:
(1) First, according to
In the formula, n is the total number of the road sections at the intersection of the road network boundary;
x is the number of the inlet road sections which are not suitable for limiting the flow at the road network boundary intersection, and n-x is the number of the inlet road sections which are suitable for limiting the flow at the road network boundary intersection;
Δq m when overflow phenomenon exists in the individual boundary road section, the average flow limiting value which is added to other boundary road sections is increased;
(2) Secondly, obtaining an inlet flow limiting value suitable for limiting flow at a road network boundary intersection:
q my (t+Δt)＝(1-R in )I y (t)+Δq m
in the formula, y represents the number of the inlet road section of the boundary intersection suitable for current limiting;
(3) Thirdly, obtaining the new inflow amount of each inlet suitable for current limiting at the road network boundary intersection:
q Gy (t+Δt)＝I y (t)-q my (t+Δt)
＝I y (t)-[(1-R in )I y (t)+Δq m ]
＝R in I y (t)-Δq m
therefore, the new inflow amount of all inlets suitable for current limiting at the road network boundary intersection is obtained:
the boundary intersection actual inflow amount I' (t) suitable for limiting the current is as follows:
(4) Finally obtaining a new inrush rate R 'after readjustment' in ：
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a road network boundary current-limiting control strategy method based on MFD and queuing length under an Internet of vehicles, which is characterized in that the number of vehicles in a road network and the maximum queuing length of road sections are real-time under the environment of the Internet of vehicles, and whether the maximum queuing length of each boundary road section exceeds the safe queuing length of the road section or not is judged in real time according to a macroscopic basic graph when a peripheral traffic current-limiting control strategy is implemented on the road network, so that the road network inrush rate is adjusted in time, and the overflow phenomenon of the boundary road sections is avoided.
Drawings
Fig. 1 is a flowchart of a road network boundary current-limiting control strategy based on MFDs and queuing lengths in the internet of vehicles according to an embodiment.
Fig. 2 is a schematic view of a commercial district of a sports center in a river district according to an embodiment.
Fig. 3 is a schematic diagram of a simulation model of the road network of the river business district of the embodiment.
FIG. 4 is an MFD graph of an embodiment simulated road network.
FIG. 5 is a schematic diagram illustrating an average queuing length of intersections of an oversaturated road network according to an embodiment.
FIG. 6 is a schematic diagram illustrating average delay time of intersections of oversaturated road network in the embodiment.
FIG. 7 is a schematic diagram of average number of stops at each intersection of the supersaturated road network.
Fig. 8 is a comparison table of control indexes of each traffic signal of an oversaturated road network under three strategies.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the same, the same is shown by way of illustration only and not in the form of limitation; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Examples
Fig. 1 to 8 show an embodiment of a road network boundary current-limiting control strategy method based on MFDs and queuing lengths in the internet of vehicles according to the present invention, which includes the following specific steps:
(a) Firstly, acquiring traffic parameters; mounting GPS vehicle-mounted equipment on a vehicle, and transmitting information such as longitude, latitude, speed and the like in real time;
(b) Secondly, defining the meeting conditions of the vehicles in the road network area, and judging whether the mobile vehicles fall in the road network area according to the conditions; guiding a line from the longitude and latitude points of the vehicle to be judged to a certain direction, calculating the number of intersection points with the road network boundary, wherein if the number is an even number or 0, the point is outside the road network area, and if the number is an odd number, the point is inside the road network area; converting the number of vehicles falling in the road network area into equivalent traffic volume, and determining the number N of the vehicles in the road network and the flow qi (i represents the ith road section) of each road section;
(c) Thirdly, calculating the distance from each vehicle on each road section to each parking line at each entrance, and finally obtaining the maximum queuing length q Lmax(i) Taking 95% of the road section length Li as the road section safe queuing length Lsi, and taking q as Lmax(i) Comparing the traffic congestion with Lsi to judge whether the traffic congestion occurs at the upstream intersection or not; if q is Lmax(i) ≥L si The vehicles can be caused to queue and overflow to the upstream intersection, so that the traffic jam occurs at the upstream intersection;
(d) Finally, carrying out current limiting control on the boundary traffic; and when the road network tends to be congested, simple boundary current limiting control is implemented on the road network.
Wherein in step (c) the maximum queue length q is derived Lmax(i) The steps are as follows:
(A) Firstly, the distance from each vehicle to each entrance parking line is calculated, and the calculation formula is as follows:
in the formula: dij-distance from the jth vehicle on the ith road segment to the entrance stop line of that road segment;
ajij, AWij-the longitude and latitude of the jth vehicle on the ith road section;
BJ ij ,BW ij -longitude and latitude of an entrance stop line on the ith road section;
(B) After step (a), the set of distances for the vehicle to reach the stop line on each road segment is denoted as D and is represented as:
D＝{d ij |i∈L,j∈N}；
the set of instantaneous speeds of the vehicle is denoted V and is represented as:
V＝{v ij |i∈L,j∈N}
in the formula, vij is the instantaneous speed of the jth vehicle on the ith road section;
(C) After step (B), defining the vehicles with the instantaneous speed v less than or equal to 5km/h as the parking queuing vehicles, thereby obtaining the queuing length set of all the parking queuing vehicles on the road section, which is expressed as QL:
Q L ＝{d ij ，v ij l is equal to L, j is equal to N, and v ij ≤5}
Thereby obtaining the maximum queuing length q of the vehicles on the ith road section Lmax (i) It can be expressed as:
q Lmax(i) ＝max(Q Li )
thereby finally obtaining the maximum queuing length q Lmax(i) 。
In addition, in step (d), when the network tends to be congested, simple boundary current limiting control is implemented on the network, and the following formula is utilized in the specific steps:
in the formula: t-a certain time (h);
Δ t — time step (h);
q G -controlled road network boundary traffic inflow (pcu/h);
i-traffic inflow amount (pcu/h) at t moment of road network, I i (t) represents the inflow amount of the traffic at the ith inlet at time t (pcu/h),
I(t)＝ΣI i (t)；
o (t) -road network surge volume at a certain time (pcu/h);
R in -the ingress rate (allowable ratio of traffic ingress);
according to the allowable inflow amount I of traffic flow i (t + delta t), and recalculating the optimal signal period of each boundary intersection after current limiting by adopting a Webster timing method.
The method comprises the following specific steps:
(1) When N (t) is not less than N C When the road network is in a crowded state;
(2) When the vehicle enters the congestion state, calculating the maximum number q of queued vehicles at each entrance of all the boundary intersections at the time t Lmax(i) (t) if q Lmax(i) ≥L si If so, the intersection inlet does not implement a peripheral current limiting strategy, and a Webster method is adopted to carry out timing design according to actual traffic requirements; defining a variable q m (t) is used for counting all boundary intersection flow limiting values which are not suitable for implementing the peripheral flow limiting strategy, and variable q m (t) can be expressed as:
in the formula, s represents the number of the inlet road section of the boundary intersection which is not suitable for flow limiting;
if q is m (t)＝0Then according to R in Implementing a peripheral current limiting strategy on the inrush rate; if q is m (t)>, 0, then q is m (t) averagely shifting to other boundary intersections, and readjusting inflow rate R' in 。
In addition, R 'is obtained' in The specific steps of (2) are as follows, with reference to fig. 1:
(1) First, according to
In the formula, n is the total number of the road sections imported from the road network boundary intersection;
x is the number of the inlet road sections which are not suitable for limiting the flow at the road network boundary intersection, and n-x is the number of the inlet road sections which are suitable for limiting the flow at the road network boundary intersection;
Δq m when the overflow phenomenon exists in the individual boundary road section, the average flow limiting value of other boundary road sections is increased;
(2) Secondly, obtaining an inlet current limiting value suitable for current limiting at a road network boundary intersection:
q my (t+Δt)＝(1-R in )I y (t)+Δq m
in the formula, y represents the number of the inlet road section of the boundary intersection suitable for current limiting;
(3) Thirdly, obtaining the new inflow amount of each inlet suitable for current limiting at the road network boundary intersection:
q Gy (t+Δt)＝I y (t)-q my (t+Δt)
＝I y (t)-[(1-R in )I y (t)+Δq m ]
＝R in I y (t)-Δq m
therefore, the new inflow amount of all inlets suitable for current limiting at the road network boundary intersection is obtained:
the actual inflow amount I' (t) of the boundary intersection suitable for flow limiting is as follows:
(4) Finally obtaining a new inrush rate R 'after readjustment' in ：
The specific application examples are as follows:
the Guangzhou river area sports center business area is used as a research object, as shown in fig. 2, wherein the north road, the east road and the south road of the river are main channels of the area.
1) Determining a macroscopic basic graph of a road network
In the Vissim traffic simulation software, a road network traffic simulation model is established, and the Internet of vehicles environment can be effectively simulated, as shown in FIG. 3. In the road network simulation model, the simulated traffic flow starts from a low peak, the driving traffic volume of each road section at the boundary of the road network is increased by 100pcu/h every 900s until the supersaturation state of a peak, the total simulation is 27000s, 1 time of data is collected every 120s, 225 times of data is collected, finally, the number of moving vehicles of the road network (obtained by calculating the road section density ki and the road section length Li), the traffic inflow volume and the traffic outflow volume of the boundary intersection and the road section flow volume are counted, and the reference MFD of the road network is obtained, wherein the reference MFD is shown in FIG. 3.
Calculating the maximum weighted flow of the region from the fitted curve of FIG. 4Number of critical vehicles N c =1090pcu. It can be seen that when the number of vehicles N&And gt, 1090pcu, the road network is in a supersaturated congestion state.
2) Boundary current limiting control strategy simulation
And (3) carrying out secondary development on a com programming interface provided by the Visim by adopting C # language, and implementing a boundary current-limiting control strategy considering a boundary road section queuing space on the road network. In order to obtain the maximum queuing length of the boundary road section, a queuing detector is arranged at the safe queuing position of the road section. When the road network is simulated for 133 periods (the simulation time is about 15960 s), the road network enters a congestion state, the initial inrush rate of the road network is obtained according to a boundary current limiting control strategy, and the current is required to be limited for 8% of flow. Therefore, in order to simplify the calculation, the green time of the driving direction of the boundary road segment is reduced by 8%, and the simulation analysis is performed again. Approximately, about 156 cycles are operated, as the queuing spaces of the road sections CR, ED and FG are limited, the situation of insufficient queuing space occurs, the queues overflow to the upstream intersection, the surge rate of the road network needs to be readjusted, the surge rate is recalculated to 90% according to the boundary current-limiting control algorithm considering the queuing spaces of the road sections, namely, the current limitation is not performed on the road sections CR, ED and FG, the current limitation with 90% of the surge rate is performed on other boundary road sections, and the simulation analysis is performed again.
Analyzing non-implementation of perimeter throttling strategy, simple perimeter throttling strategy [11] And under three control strategies such as a boundary current-limiting control strategy considering the queuing space and the like, acquiring the traffic signal control index of the oversaturated road network by using the simulation data (15960-27000 s are oversaturated simulation time periods) of the oversaturated road network, as shown in fig. 5-7.
As can be seen from fig. 8, the average delay times of the simple periphery current limiting strategy and the algorithm herein are respectively reduced by 12.6% and 17.1% compared with the case of not implementing the periphery current limiting strategy; the average parking times of the simple peripheral current limiting strategy and the algorithm are respectively reduced by 6.7 percent and 4.2 percent compared with the average parking times without the peripheral current limiting strategy; the average queue length of the simple peripheral current limiting strategy and the algorithm is respectively reduced by 17.7 percent and 18.6 percent compared with the average queue length without the implementation of the peripheral current limiting strategy. The simple peripheral current limiting strategy and each traffic signal control index of the algorithm are improved compared with the method without the implementation of the peripheral current limiting strategy.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A road network boundary current limiting control method based on MFD and queuing length in the Internet of vehicles is characterized by comprising the following specific steps:
(a) Firstly, acquiring traffic parameters; mounting GPS vehicle-mounted equipment on a vehicle, and transmitting information such as longitude, latitude, speed and the like in real time;
(b) Secondly, defining the meeting conditions of the vehicles in the road network area, and judging whether the mobile vehicles fall in the road network area or not according to the conditions; guiding a line from the longitude and latitude points of the vehicle to be judged to a certain direction, calculating the number of intersection points with the road network boundary, wherein if the number is an even number or 0, the point is outside the road network area, and if the number is an odd number, the point is inside the road network area; converting the number of vehicles falling in the road network area into equivalent traffic volume, and determining the number N of the vehicles in the road network and the flow qi (i represents the ith road section) of each road section;
(c) Thirdly, calculating the distance from each vehicle on each road section to each parking line at each entrance, and finally obtaining the maximum queuing length q Lmax(i) Taking 95% of the road section length Li as the road section safe queuing length Lsi, and taking q as the road section safe queuing length Lsi Lmax(i) Comparing the traffic congestion with Lsi to judge whether the traffic congestion occurs at the upstream intersection or not; if q is Lmax(i) ≥L si The vehicles can be caused to queue and overflow to the upstream intersection, so that the traffic jam occurs at the upstream intersection;
(d) Finally, carrying out current limiting control on the boundary traffic; and when the road network tends to be jammed, simple boundary current limiting control is implemented on the road network.
2. The MFD and queuing length based road network boundary current limiting control strategy in the Internet of vehicles of claim 1, wherein in step (c), the maximum queuing length q is obtained Lmax(i) The steps are as follows:
(A) Firstly, the distance from each vehicle to each entrance parking line is calculated, and the calculation formula is as follows:
in the formula: dij-the distance from the jth vehicle on the ith road segment to the entrance stop line of the road segment;
ajij, AWij-the longitude and latitude of the jth vehicle on the ith road section;
BJ ij ,BW ij -longitude and latitude of an entrance stop line on the ith road section;
(B) After step (a), the set of distances for the vehicle to reach the stop line on each road segment is denoted as D and is represented as:
D＝{d ij |i∈L,j∈N}；
the set of instantaneous speeds of the vehicle is denoted V and is represented as:
V＝{v ij |i∈L,j∈N}
wherein vij is the instantaneous speed of the jth vehicle on the ith road section;
(C) After step (B), defining the vehicles with the instantaneous speed v less than or equal to 5km/h as the parking queuing vehicles, thereby obtaining the queuing length set of all the parking queuing vehicles on the road section, which is expressed as QL:
Q L ＝{d ij ，v ij i belongs to L, j belongs to N, and v ij ≤5}
Thereby obtaining the maximum queuing length q of the vehicles on the ith road section Lmax(i) Can be represented as
q Lmax(i) ＝max(Q Li )
Thereby finally obtaining the maximum queuing length q Lmax(i) 。
3. The MFD and queuing length based road network boundary current-limiting control strategy method in Internet of vehicles according to claim 2, wherein in step (d), when the road network is prone to congestion, simple boundary current-limiting control is performed on the road network, and the specific steps utilize the following formula:
in the formula: t-a certain time (h);
Δ t — time step (h);
q G -controlled road network boundary traffic inflow (pcu/h);
i-traffic inflow amount (pcu/h) at t moment of road network, I i (t) represents the traffic inflow amount (pcu/h) of the ith inlet at time t, and I (t) = Σ I i (t)；
O (t) -the road network surge amount at a certain time (pcu/h);
R in -the ingress rate (allowable ratio of traffic ingress);
according to the allowable inflow amount I of traffic flow i (t + delta t), and recalculating the optimal signal period of each boundary intersection after current limiting by adopting a Webster timing method.
4. The MFD and queuing length based road network boundary current-limiting control strategy method under the Internet of vehicles according to claim 3, comprising the following specific steps:
(1) When N (t) is not less than N C When the road network enters a crowded state;
(2) When the vehicle enters the congestion state, calculating the maximum number q of queued vehicles at each entrance of all the boundary intersections at the time t Lmax(i) (t) if q Lmax(i) ≥L si If the intersection is not in the intersection, a peripheral current limiting strategy is not implemented, and a Webster method is adopted to carry out timing design according to actual traffic requirements; defining a variable q m (t) is used for counting all boundary intersection flow limiting values which are not suitable for implementing the peripheral flow limiting strategy, and variable q m (t) can be expressed as:
in the formula, s represents the number of the inlet road section of the boundary intersection which is not suitable for flow limiting;
if q is m (t) =0, then press R in Implementing a peripheral current limiting strategy on the inrush rate; if q is m (t)>, 0, then q is m (t) averagely shifting to other boundary intersections, and readjusting inflow rate R' in 。
5. The MFD and queuing length based road network boundary current limiting control strategy under Internet of vehicles of claim 4, wherein R 'is derived' in The method comprises the following specific steps:
(1) First, according to
In the formula, n is the total number of the road sections at the intersection of the road network boundary;
x is the number of the inlet road sections which are not suitable for limiting the flow at the road network boundary intersection, and n-x is the number of the inlet road sections which are suitable for limiting the flow at the road network boundary intersection;
Δq m when overflow phenomenon exists in the individual boundary road section, the average flow limiting value which is added to other boundary road sections is increased;
(2) Secondly, obtaining an inlet current limiting value suitable for current limiting at a road network boundary intersection:
q my (t+Δt)＝(1-R in )I y (t)+Δq m
in the formula, y represents the number of the inlet road section of the boundary intersection suitable for current limiting;
(3) Thirdly, obtaining the new inflow amount of each inlet suitable for current limiting at the road network boundary intersection:
q Gy (t+Δt)＝I y (t)-q my (t+Δt)
＝I y (t)-[(1-R in )I y (t)+Δq m ]
＝R in I y (t)-Δq m
therefore, the new inflow amount of all inlets suitable for current limiting at the road network boundary intersection is obtained:
the boundary intersection actual inflow amount I' (t) suitable for limiting the current is as follows:
(4) Finally obtaining a new inrush rate R 'after readjustment' in ：
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