CN107705591A - A kind of tramcar and the cooperative control method of social wagon flow - Google Patents
A kind of tramcar and the cooperative control method of social wagon flow Download PDFInfo
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- CN107705591A CN107705591A CN201710868230.3A CN201710868230A CN107705591A CN 107705591 A CN107705591 A CN 107705591A CN 201710868230 A CN201710868230 A CN 201710868230A CN 107705591 A CN107705591 A CN 107705591A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a kind of tramcar and the cooperative control method of social wagon flow, comprise the following steps：(1) determination of road traffic basic data acquisition and signal common period, (2) setting and activation of detector, (3) after arrival detector detects tramcar, signal controlling machine generates tramcar priority pass application, signal time distributing conception adjustment is carried out according to tramcar and the cooperative control method of social wagon flow, (4) tramcar reaches the closing and unlatching of detector.The technical scheme integrates the technology of prediction, signal priority, coordination control, to ensure tramcar continuous priority pass between intersection, while make it that delay of the public vehicles in intersection is as small as possible.
Description
Technical field
The invention belongs to bus signals control technology field, for tramcar system, is related to a kind of modern rail of consideration
The tramcar of electric car dwell time and the cooperative control method of social wagon flow.
Background technology
Since the France of the nineties in last century, modern tram as a kind of public transport mode of high-efficiency cleaning,
It is gradually fashionable, but tramcar needs enough space-time rights of way to ensure its running efficiency and service level.In recent years, either
In scientific research field or patent application field, wherein few methods for being related to tramcar signal priority, only a few
The methods and strategies being related to also principally fall into that active signal is preferential, give the preferential limited extent of tramcar, and lack with
Coordination between other modes of transportation, the current of public vehicles can be negatively affected, this phenomenon is when saturation degree is higher
Time becomes apparent.The present invention is caused in this context.
The content of the invention
The present invention is exactly the deficiency that to solve coupled antenna thickness measuring has larger error, there is provided one kind is folded based on electromagnetic wave
Add the tramcar of principle and the cooperative control method of social wagon flow, the program provides important evidence for nondestructive highway inspection.
In order to realize foregoing invention purpose, the present invention adopts the following technical scheme that：A kind of tramcar and social wagon flow
Cooperative control method, it is characterised in that the control method comprises the following steps：
(1) determination of road traffic basic data acquisition and signal common period,
(2) setting and activation of detector,
(3) after arrival detector detects tramcar, signal controlling machine generation tramcar priority pass application, according to
Tramcar and the cooperative control method of social wagon flow carry out signal time distributing conception adjustment,
(4) tramcar reaches the closing and unlatching of detector；Coordinate section and carry out the signal timing plan after optimization, meeting
Temporary close tramcar reaches detector, and after detector detects that tramcar leaves coordination section, terminating this has
The signal priority Collaborative Control flow of rail electric car, returns to original control program, and now tramcar reaches detector again
Start, wait the signal priority Collaborative Control for entering next tramcar, if detecting the arrival of tramcar again, can weigh
Newly enter step (3).
As a modification of the present invention, the step (1) is specific as follows, and the step calculates letter using Robert Webster formula
Number cycle, and maximum cycle is taken in each intersection as the common period for coordinating control；
L=∑sI(l+I-A)；
The cycle duration (s) that C- Robert Websters formula calculates；
The L- loss of cycle times (s)；
Y- intersections total flow ratio；
A- yellow time (s)；
I- green light time intervals (s)；
L- starts loss time (s), tables look-up；
yi=maxj(qij/Sij), the flow-rate ratio of the i-th phase；
qijThe hour flow in the-the i-th phase jth track；
SijThe traffic capacity in the-the i-th phase jth track, is obtained by basic capacity；
By correlation analysis, the road traffic basic data needed for the program includes as follows：Each intersection track
Number NijIt is to include straight trip, turn left, right-hand rotation, directly left, straight right, the left straight right side, left/right rotation, Adjacent Intersections with defined track direction
Spacing lijDeng static data, flux and flow direction data (the saturation degree y of each entrance driveway of intersectioni), signal timing dial present situation is (during amber light
Between A, number of phases i, green light time interval I in a cycle) etc. dynamic data and vehicle parking time series y, rail electricity
Car arrive at a station actual moment x1, number of getting on the bus x2, number of getting off x3, with the time headway x4 of the upper electric car that enters the station, tramcar
Length Ltr, intersection empties distance Ld, the data such as tramcar speed Vtr.
As a modification of the present invention, in step (2) detector setting and activation it is specific as follows, coordinate control zone
Arrange that tramcar reaches detector at section upstream entrance, inspection is left coordinating arrangement tramcar at control zone lower exit
Device is surveyed, when first tramcar is by leaving detector, tramcar reaches detector and is activated, follow-up in that can receive
The state of tramcar priority requisition.
As a modification of the present invention, in the step (3), after arrival detector detects tramcar, signal control
Machine processed generates tramcar priority pass application, and signal timing dial is carried out according to tramcar and the cooperative control method of social wagon flow
Project setting, when device to be detected detects tramcar, signal controlling machine generation tramcar priority pass application, specifically such as
Under；
31) tramcar website berthing time is predicted：" tramcar website berthing time " in this invention is to be based on
SVM (SVMs) is predicted, and can be operated by softwares such as C++；
32) signal coordination and optimization scheme：Predicted, can obtained on this basis by tramcar website berthing time 31)
At the time of reaching intersection parking line to electric car, intersection is obtained based on nested algorithm then in conjunction with the arrival rate of public vehicles
The parameter such as green time and phase difference, and signal coordination and optimization scheme is determined according to " green time and phase difference " index.
As a modification of the present invention, the prediction of tramcar website berthing time is specific as follows in step (31), will have
Rail electric car reach the stop line time prediction process simplification, major prognostic electric car platform berthing time, i.e., because stop produce
The improper traveling duration, it is contemplated that the berthing time of tramcar and electric car system feature itself, tramcar are with multiplying
Visitor's interaction is that non-linear relation is presented, and carries out nonlinear regression based on SVM modellings algorithm, the program uses multinomial
Kernels, the prediction of dwell time is realized based on this algorithm；And on this basis, prediction tramcar reaches intersection
Time；
Algorithm is as follows：
Wherein, f (x) is nonlinear solshing,WithFor Lagrangian undetermined coefficient, can be tried to achieve by formula (3), SVs
SVMs set is represented, ε is insensitive coefficient；
Wherein, y is sample sequence, is the vehicle parking time original series collected, and l is supporting vector number, x=
(x1, x2, x3, x4) be attribute variable, be closely related with tramcar berthing time, respectively electric car arrive at a station the actual moment, get on the bus
Number, number of getting off, the time headway with the upper electric car that enters the station, these can all be obtained by being investigated with car.
As a modification of the present invention, long green light time and phase difference are determined using nested algorithm in the step (32),
Module one is coordinating the minimum target of section parking with tramcar, and enters module two using this target as new restraint strap, that is, controls
The minimum optimization aim of section total delay processed, ensure that tramcar causes social car between intersection while continuous priority pass
Delay in intersection is as small as possible；
Module one：The green ripple of tramcar passes through；
The coordination control of tramcar is realized, optimal state is exactly that tramcar can pass through target area with not parking
Section, therefore, module one is to apply for accumulative stop frequency S of the preferential tramcar in target zoneallMinimum object function,
Corresponding algorithm is as follows：
Wherein,Bright time, o are opened for the current phase green light of j-th of intersection tramcarjFor j-th of friendship
The absolute phase difference of prong, a are positive integer, and C is the common period duration for coordinating control；
The time of j-th of intersection is reached for tramcar；
temp=(Ltr+Ld)/vtrThe clean up time of intersection is passed through for tramcar；For j-th of phase of intersection i-th
Green time,For the Minimum Green Time of j-th of phase of intersection i-th, qijFor j-th of phase of intersection i-th
Position monocycle vehicle flowrate, SijFor the track saturation volume rate of j-th of phase of intersection i-th；
By integer space PSO Algorithm formula (5) and formula (6), brought into solving result as new constraints
Module two；
Module two：Based on the timing designing for it is expected delay；
The signal priority of tramcar can give the transit time for taking other phase public vehicles, in order to lead in guarantee electric car
On the premise of row power, signal timing dial should reduce the current delay of other phase public vehicles as far as possible, and its algorithm is as follows：
Wherein,The time of stop line is reached for the vehicle head car of i-th of intersection jth phase；uijFor i-th of intersection
Jth phase considers the arrival rate after the influence of upstream intersection；
Can be in the hope of meeting that the signal phase of each intersection of object function is matched somebody with somebody using the particle cluster algorithm of integer space
When and phase difference.
Relative to prior art, beneficial effects of the present invention are as follows, and (1) present invention is in tramcar signal control field
Once new trial, by prediction, signal priority, coordinate control technology integrate, ensure tramcar between intersection
While continuous priority pass, make delay of the public vehicles in intersection as small as possible, take into account many interests, it is intended that be
System obtains optimal implementation result；(2) the inventive method does not need extra road reformation to be put into infrastructure, thus its fund
Less investment, to the financial less demanding of city, the operability of invention is very strong.
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method；
Fig. 2 is road information and dynamic data graph；
Fig. 3 is solution object delineation.
Embodiment
In order to further enhance the appreciation and understanding of the invention, the present invention is done further with specific embodiment below in conjunction with the accompanying drawings
Explanation.
It is as shown in Figure 1 a kind of tramcar and the cooperative control method flow chart of social wagon flow referring to Fig. 1-Fig. 3,
Further illustrated with reference to example.
(1) determination in road traffic basic data acquisition and signal public cycle；
The present invention calculates the signal period using Robert Webster formula first, and takes maximum cycle in each intersection to be used as coordination
The shared cycle of control.
The cycle duration (s) that C- Robert Websters formula calculates
The L- loss of cycle times (s)
Y- intersections total flow ratio
A- yellow time (s)
I- green light time intervals (s)
L- starts loss time (s), tables look-up
yi=maxj(qij/Sij), the flow-rate ratio of the i-th phase
qijThe hour flow in the-the i-th phase jth track
SijThe traffic capacity in the-the i-th phase jth track, is obtained by basic capacity.
By correlation analysis, the road traffic basic data needed for this invention includes as follows：Each intersection car
Road number NijBetween defined track direction (straight trip, turn left, turn right, straight left, straight right, left straight right, left/right rotation), Adjacent Intersections
Away from lijDeng static data, flux and flow direction data (the saturation degree y of each entrance driveway of intersectioni), signal timing dial present situation (yellow time
A, number of phases i, the green light time interval I in a cycle) etc. dynamic data and vehicle parking time series y, tramcar
Arrive at a station actual moment x1, number of getting on the bus x2, number of getting off x3, the time headway x4 with the upper electric car that enters the station, tramcar length
Spend Ltr, intersection empties distance Ld, the data such as tramcar speed Vtr.
In this example, each intersection number of track-lines Nij(straight trip, left-hand rotation, turned right, straight left, straight with defined track direction
Right, left straight right, left/right rotation), the spacing l of Adjacent Intersectionsij, intersection the flux and flow direction data (saturation degree of each entrance driveway
yi), signal timing dial present situation (number of phases i, green light time interval I in yellow time A, a cycle), tramcar length Ltr
On-site inspection method can be taken to obtain；Vehicle parking time series y, tramcar arrive at a station actual moment x1, number of getting on the bus x2,
Time headway x4, tramcar speed Vtr of number of getting off x3 and the upper electric car that enters the station etc. can use camera method to gather, i.e.,
By the related video of camera acquisition, and by special Video processing software (for example, the Premiere of Adobe companies
Pro 2.0) video information is handled to obtain required data.
(2) setting and activation of detector：
Coordinating to arrange that tramcar reaches detector at control zone upstream entrance, coordinating control zone lower exit
Place's arrangement tramcar leaves detector, and when first tramcar is by leaving detector, tramcar reaches detector quilt
Activation, in the state that can receive follow-up tramcar priority requisition, the position of detector is as shown in Figure 2.
Certain distance should be kept with stopping website and intersection by paying attention to the arrangement of tramcar arrival detector, avoid rail
Electric car is lined up the influence overflowed.
(3) after arrival detector detects tramcar, signal controlling machine generation tramcar priority pass application, according to
Tramcar and the cooperative control method of social wagon flow carry out signal time distributing conception adjustment,
When device to be detected detects tramcar, signal controlling machine generation tramcar priority pass application is specific as follows,
31) tramcar website berthing time is predicted：" tramcar website berthing time " in this invention is to be based on
SVM (SVMs) is predicted, and can be operated by softwares such as C++；
32) signal coordination and optimization scheme：Predicted, can obtained on this basis by tramcar website berthing time 1)
At the time of electric car reaches intersection parking line, the green of intersection is obtained based on nested algorithm then in conjunction with the arrival rate of public vehicles
The parameter such as lamp time and phase difference, and signal coordination and optimization scheme is determined according to " green time and phase difference " index.
(4) tramcar reaches the closing and unlatching of detector；
Coordinate section and carry out the signal timing plan after optimization, meeting temporary close tramcar reaches detector, Deng Daojian
After survey device detects that tramcar leaves coordination section, terminate the signal priority Collaborative Control flow of this tramcar, rail
Electric car reaches detector restarting, the signal priority Collaborative Control for entering next tramcar is waited, if detecting again
The arrival of tramcar, step (3) can be reentered.
Intersection signal timing is adjusted according to the above method, can obtain the Collaborative Control of a kind of tramcar and social wagon flow
Method, while realizing tramcar priority pass, delay of the public vehicles in intersection is as small as possible.
Application example：In order to verify effectiveness of the invention, with reference to certain city's tramcar factual survey data and
VISSIM, the present invention is further illustrated.
If certain major trunk roads have 5 intersections, number consecutively 1,2,3,4,5 successively.It is excellent that this region includes signal
First coordinate control intersection：Tongjiang-Taihu Lake road intersection (2), Tongjiang-Long Jin roads intersection (3) and Tongjiang-Long Chenglu
Intersection (4), and transition intersection of 1 and 5 intersections as coordination control, indices are simultaneously not counted in statistics, with counteracting
Swim influence of the intersection for control effect.As shown in Figure 2：
(1) it is as follows by the collection of basic data, acquired results：
Cooperate with priority acccess control region between the signal period of primary cross mouth, phasing scheme, intersection channelizing, intersection
Away from, bus station particular location, each intersection the information such as flux and flow direction as shown in Figure 2；
(2) effect analysis；
In order to verify the effect of the present invention, by the control method for coordinating under tramcar priority condition and primary signal timing
Only consider that the green ripple control method of static bidirectional of public vehicles is contrasted, that is to say, that each signal timing dial method exists
A kind of signal timing dial strategy is correspond in effect analysis, is actual signal timing control respectively, timing data are shown in accompanying drawing 2, tradition
The green ripple of static bidirectional, i.e., determine the common signal cycle by Robert Webster formula, when then matching somebody with somebody green light by each phase flow score
Between, the phase difference met between the wide maximum intersection of public vehicles green wave band is finally solved with algebraic method, and the present invention proposes
A kind of tramcar and social wagon flow cooperative control method.
The situation of transport need fluctuation is frequently encountered in Practical Project, so invention is not limited to optimize under present situation flow
Traffic efficiency, in order to further test the stability of signal control effect of the inventive method under the different volume of traffic, upper
State and 5 traffic class are respectively provided with three kinds of signal timing dial strategies, be the 80% of original flow, 90%, 100% respectively, 110% He
120%.I.e. this effect analysis builds 3 kinds of signal control strategies altogether, and every kind of strategy tests 5 flow conditions, effect analysis
It is specific that such as table 1 is set.
The signal timing dial strategy of table 1 designs
The travel speed of vehicle is to estimate vehicle to reach the stop line time, so as to realize what signal controlled by nested algorithm
Important parameter, the formal definition that the input in VISSIM to speed uses.In urban road, due to signal control influence,
It is not uniform that wagon flow, which goes to the arrival rate of downstream intersection, and therefore, in effect analysis, the upstream of signal coordinating section is equal
The signal lamp of transition is provided with, to ensure the appearance of fleet, so as to the actual conditions closer to traffic circulation, and these intersections
Final indicator-specific statistics can't be included in, such as the intersection 1 and 5 in accompanying drawing 2.
Tramcar has a major impact in the berthing time of platform to the effect of signal priority.Effect analysis passes through in difference
Time interval in different Passenger arrival rate is set, to ensure the ridership of tramcar carrying and the observation data in table 1
Unanimously, so as to deducing docking process of the tramcar in platform.Influence tramcar berthing time and reach the intersection time
Another key factor be vehicle entering signal coordinate section at the time of.Investigation passes through video acquisition tramcar entering signal
Coordinate the section time, and typing effect analysis system, i.e. each corresponding one of car enter in a manner of timetable by these times
Enter effect analysis system time.
A length of 3600s during whole effect analysis, corresponding real period are the evening peak 17 of survey region:15~
18:15.Each flow condition of each scene in table 1 carries out 10 effect analyses, each effect analysis take it is different with
Machine.
(3) effect analysis results；
(31) tramcar platform berthing time prediction result is analyzed；
The website for coordinating to influence tramcar arrival stop line time prediction in control zone shares 4, in accompanying drawing 2
In mark.Because the berthing time prediction of tramcar is relevant with self-characteristic, therefore the present invention has using Nanjing Hexi District
The related data at the logical station of rail electric car member is demarcated based on the penalty factor E in SVM model algorithms, insensitive coefficient ε and core letter
Number parameter γ, then the attribute vector of 4 websites of section will be studied, regression function is brought into, so as to predict the stop of tramcar
Time.Berthing time y and association attributes vector x=(x of the tramcar at the logical station of member1,x2,x3,x4), sample size 115.Its
In, x1~x4For attribute variable, be closely related with tramcar berthing time, here respectively electric car arrive at a station the actual moment, get on the bus
Number, number of getting off, the time headway with the upper electric car that enters the station.Parameter calibration result is：E=24.619, ε=0.4972,
γ=0.9997.Two indexs of average percentage error (MAPE) and mean square error (MSE) of algorithm are respectively 8.12% He
37.58s2, it is relatively small, this demonstrate that the prediction effect based on SVM model algorithms is more reliable, also it is prediction tramcar
Reach the intersection time and the preferential Coordinated Control Scheme of setting signal provides sufficient foundation.
(32) to the influence of tramcar；
It is to lift its on-road efficiency to reduce inessential residence time and stop frequency of the tramcar on section as far as possible
Main target, therefore delay and parking rate are the primary evaluation indexs that tramcar coordinates signal priority control, and this hair
Bright tramcar signal priority control strategy is most strong, one of maximally effective argument.The evaluation index exported according to VISSIM,
The traffic sensitivity result of three kinds of control strategies is as shown in table 2.
All in all, under present situation flow condition, static two-way green wave control due to do not account for tramcar with
Difference of the public vehicles on ride characteristic, tramcar is caused on the contrary and is delayed in the bigger stroke of research section, and rail
The parking rate of electric car is relative to the only slight lifting of original case.And carrying out tramcar and the Collaborative Control side of social wagon flow
After method, 76.46% and 95.05% is greatly lowered in the stroke delay of electric car and parking rate.
Even more noteworthy, it is very easy to find by traffic sensitivity, because actual signal timing control and tradition are quiet
State two-way green wave belongs to static timing method, so the traveling index of tramcar does not change because of the change of vehicle flow,
All the time reduced levels are in.No matter the signal control strategy of the present invention can significantly reduce tramcar under which kind of saturation degree
Stroke be delayed up to more than 77%, accordingly, parking rate is also die-offed compared with present situation signal timing plan surpasses 90%.This is fully demonstrated
The rigid objects of module one, that is, propose that the tramcar of priority requisition stops less as far as possible in target zone and pass through, for lifting
Tramcar passes through the significance of benefit, also the accuracy of indirect verification tramcar berthing time prediction and for this
The outstanding contributions of control algolithm.
The indices of tramcar under the unlike signal control strategy of table 2
(33) to the influence of social wagon flow
The original intention for giving tramcar signal priority is not to sacrifice the right-of-way of public vehicles, it is therefore necessary to society
The traveling index of vehicle is counted with influence of the assessment signal priority algorithm to public vehicles.Invention exists in statistics public vehicles
While with the delay of each node, it is contemplated that the constraint of intersection geometrical condition, also to the average queue length of each node
Analyzed.As a result it is as shown in table 3.
The indices of public vehicles under the unlike signal control strategy of table 3
Note：1 represents that vehicle is coordinating the target zone of control, i.e., is travelled from the intersection 2 in accompanying drawing 2 between intersection 4
Caused delay average.
* represents that index declines more than 50% relative to present situation, illustrates that control method can extremely be obviously improved the row of vehicle
Sail benefit.
* represent that index 20%~50%, illustrate that control method is imitated in lifting vehicle pass-through relative to present situation fall
There is certain effect in benefit.
From being delayed with from the point of view of parking rate index, under present situation flow condition, the green ripple of traditional static bidirectional reduced by only 20%
The vehicle delay of left and right and parking rate, and tramcar and the cooperative control method of social wagon flow not only considerably reduce north and south
The delay of direction tramcar, the traveling benefit for the public vehicles that this side up are also substantially improved, and it is delayed and parking rate ratio is quiet
State two-way green wave further reduces 74.49% and 73.06%.
Generally, the vehicle to be passed through during non-green ripple is vulnerable to the interference for coordinating control, static double under present situation flow
The current benefit of public vehicles could not be not only obviously improved to green ripple strategy, add on the contrary its partial intersection mouth delay and
Parking rate.By contrast, tramcar with the cooperative control method of social wagon flow while it is not guaranteed that the vehicle of all phases is equal
It can efficiently be travelled as interior current vehicle during green ripple, but can still make delay and the parking rate average of each intersection
It is decreased obviously relative to present situation.
It is the superiority of signal control algolithm and the body of robustness that efficiently control is carried out to the traffic flow under different saturation
It is existing.Contrast vehicle operating index of the different flow than under, it is easy to find, with the increase of flow, the current car of North and South direction
The trend being gradually reduced is presented because of the delay decreasing value that the green ripple of static bidirectional obtains, each intersection delay and length is lined up in section
Degree is also most of to receive negative effect.Although the rising of flow also allows the cooperative control method control of tramcar and social wagon flow
The delay reduction dynamics of the lower North and South direction vehicle of system receives certain influence, but under each species saturation, tramcar and
The cooperative control method of social wagon flow still can the high more traffic efficiencies of ripple offer greener than static bidirectional.
Above-mentioned substantial amounts of evaluation index demonstrates tramcar well and the cooperative control method method of social wagon flow exists
Give tramcar advantage signal priority while reduce to the huge advantage in terms of other public vehicles interference, various flow susceptibility
Test also show the stability and robustness of this method reply Different Traffic Flows saturation degree.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications being expected can also be made, these improvement
Protection scope of the present invention is also should be regarded as with retouching.
Claims (6)
1. a kind of tramcar and the cooperative control method of social wagon flow, it is characterised in that the control method includes following step
Suddenly：
(1) determination of road traffic basic data acquisition and signal common period,
(2) setting and activation of detector,
(3) after arrival detector detects tramcar, signal controlling machine generation tramcar priority pass application, according to rail
Electric car and the cooperative control method of social wagon flow carry out signal time distributing conception adjustment,
(4) tramcar reaches the closing and unlatching of detector；Coordinate section and carry out the signal timing plan after optimization, can be temporary transient
Close tramcar and reach detector, after detector detects that tramcar leaves coordination section, terminate this rail electricity
The signal priority Collaborative Control flow of car, returns to original control program, and now tramcar reaches detector restarting,
The signal priority Collaborative Control for entering next tramcar is waited, if detecting the arrival of tramcar again, can be entered again
Enter step (3).
2. a kind of tramcar according to claim 1 and the cooperative control method of social wagon flow, it is characterised in that step
(1) specific as follows, the step calculates the signal period using Robert Webster formula, and takes maximum cycle in each intersection to be used as coordination
The common period of control；
<mrow>
<mi>C</mi>
<mo>=</mo>
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<mn>1.5</mn>
<mi>L</mi>
<mo>+</mo>
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</mrow>
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<mn>1</mn>
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<mi>Y</mi>
</mrow>
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L=∑sI(l+I-A)；
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<mi>Y</mi>
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The cycle duration (s) that C- Robert Websters formula calculates；
The L- loss of cycle times (s)；
Y- intersections total flow ratio；
A- yellow time (s)；
I- green light time intervals (s)；
L- starts loss time (s), tables look-up；
yi=maxj(qij/Sij), the flow-rate ratio of the i-th phase；
qijThe hour flow in the-the i-th phase jth track；
SijThe traffic capacity in the-the i-th phase jth track, is obtained by basic capacity；
By correlation analysis, the road traffic basic data needed for the program includes as follows：Each intersection number of track-lines Nij
Include straight trip with defined track direction, turn left, right-hand rotation, directly left, the straight right side, the left straight right side, left/right rotation, the spacing of Adjacent Intersections
lijDeng static data, flux and flow direction data (the saturation degree y of each entrance driveway of intersectioni), signal timing dial present situation (yellow time A,
Number of phases i, green light time interval I in a cycle) etc. dynamic data and vehicle parking time series y, tramcar arrive
Stand actual moment x1, number of getting on the bus x2, number of getting off x3, the time headway x4 with the upper electric car that enters the station, tramcar length
Ltr, intersection empties distance Ld, the data such as tramcar speed Vtr.
3. a kind of tramcar according to claim 2 and the cooperative control method of social wagon flow, it is characterised in that step
(2) in detector setting and activation it is specific as follows, coordinate control zone upstream entrance at arrange tramcar reach detection
Device, detector is left coordinating arrangement tramcar at control zone lower exit, first tramcar is by leaving detection
During device, tramcar reaches detector and is activated, in the state that can receive follow-up tramcar priority requisition.
4. a kind of tramcar and the cooperative control method of social wagon flow according to Claims 2 or 3, it is characterised in that
In the step (3), after arrival detector detects tramcar, signal controlling machine generation tramcar priority pass application,
Signal time distributing conception adjustment is carried out according to tramcar and the cooperative control method of social wagon flow,
When device to be detected detects tramcar, signal controlling machine generation tramcar priority pass application is specific as follows,
31) tramcar website berthing time is predicted：
32) signal coordination and optimization scheme：Predicted by tramcar website berthing time 31), electricity can be obtained on this basis
At the time of car reaches intersection parking line, the green light of intersection is obtained based on nested algorithm then in conjunction with the arrival rate of public vehicles
The parameter such as time and phase difference, and signal coordination and optimization scheme is determined according to " green time and phase difference " index.
5. a kind of tramcar according to claim 4 and the cooperative control method of social wagon flow, it is characterised in that step
(31) prediction of tramcar website berthing time is specific as follows in, and tramcar is reached to the prediction process letter of stop line time
Change, major prognostic electric car is in the berthing time of platform, i.e., because of the improper traveling duration caused by stop, the program uses more
Item formula Kernels, the prediction of dwell time is realized based on this algorithm；And on this basis, prediction tramcar, which reaches, to intersect
The time of mouth；
Algorithm is as follows：
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<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munder>
<mo>&Sigma;</mo>
<mrow>
<mi>S</mi>
<mi>V</mi>
<mi>s</mi>
</mrow>
</munder>
<mrow>
<mo>(</mo>
<mover>
<msub>
<mi>&alpha;</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
</mover>
<mo>-</mo>
<mover>
<msubsup>
<mi>&alpha;</mi>
<mi>i</mi>
<mo>*</mo>
</msubsup>
<mo>-</mo>
</mover>
<mo>)</mo>
</mrow>
<mi>K</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
<mrow>
<msub>
<mi>L</mi>
<mi>&epsiv;</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>N</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>|</mo>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>N</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
<mo>-</mo>
<mi>&epsiv;</mi>
<mo><</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>|</mo>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>N</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
<mo>-</mo>
<mi>&epsiv;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>|</mo>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>N</mi>
<mi>i</mi>
</msub>
<mo>|</mo>
<mo>-</mo>
<mi>&epsiv;</mi>
<mo>></mo>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, f (x) is nonlinear solshing,WithFor Lagrangian undetermined coefficient, can be tried to achieve by formula (3), SVsRepresent
SVMs set, ε are insensitive coefficients；
<mrow>
<munder>
<mi>max</mi>
<mrow>
<mi>&alpha;</mi>
<mo>,</mo>
<msup>
<mi>&alpha;</mi>
<mo>*</mo>
</msup>
</mrow>
</munder>
<mi>W</mi>
<mrow>
<mo>(</mo>
<mi>&alpha;</mi>
<mo>,</mo>
<msup>
<mi>&alpha;</mi>
<mo>*</mo>
</msup>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munder>
<mi>max</mi>
<mrow>
<mi>&alpha;</mi>
<mo>,</mo>
<msup>
<mi>&alpha;</mi>
<mo>*</mo>
</msup>
</mrow>
</munder>
<mo>{</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>l</mi>
</munderover>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>l</mi>
</munderover>
<mrow>
<mo>(</mo>
<msubsup>
<mi>&alpha;</mi>
<mi>i</mi>
<mo>*</mo>
</msubsup>
<mo>-</mo>
<msub>
<mi>&alpha;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mrow>
<mo>(</mo>
<msubsup>
<mi>&alpha;</mi>
<mi>j</mi>
<mo>*</mo>
</msubsup>
<mo>-</mo>
<msub>
<mi>&alpha;</mi>
<mi>j</mi>
</msub>
<mo>)</mo>
</mrow>
<mi>K</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>x</mi>
<mi>j</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>l</mi>
</munderover>
<msubsup>
<mi>&alpha;</mi>
<mi>i</mi>
<mo>*</mo>
</msubsup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>&epsiv;</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>&alpha;</mi>
<mi>i</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>+</mo>
<mi>&epsiv;</mi>
<mo>)</mo>
</mrow>
<mo>}</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
<mrow>
<mi>s</mi>
<mo>.</mo>
<mi>t</mi>
<mo>.</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mn>0</mn>
<mo>&le;</mo>
<msub>
<mi>&alpha;</mi>
<mi>i</mi>
</msub>
<mo>&le;</mo>
<mi>E</mi>
<mo>,</mo>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>...</mn>
<mo>,</mo>
<mi>l</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>0</mn>
<mo>&le;</mo>
<msubsup>
<mi>&alpha;</mi>
<mi>i</mi>
<mo>*</mo>
</msubsup>
<mo>&le;</mo>
<mi>E</mi>
<mo>,</mo>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>...</mn>
<mo>,</mo>
<mi>l</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>l</mi>
</munderover>
<mrow>
<mo>(</mo>
<msubsup>
<mi>&alpha;</mi>
<mi>i</mi>
<mo>*</mo>
</msubsup>
<mo>-</mo>
<msub>
<mi>&alpha;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, y is sample sequence, is the vehicle parking time original series collected, and l is supporting vector number, x=(x1, x2,
x3, x4) be attribute variable, be closely related with tramcar berthing time, respectively electric car arrive at a station the actual moment, number of getting on the bus, under
Car number, the time headway with the upper electric car that enters the station, these can all be obtained by being investigated with car.
6. a kind of tramcar according to claim 5 and the cooperative control method of social wagon flow, it is characterised in that described
Long green light time and phase difference are determined using nested algorithm in step (32), module one is coordinating section parking minimum with tramcar
For target, and enter module two, the i.e. minimum optimization aim of control zone total delay using this target as new restraint strap, ensure rail
Electric car make it that delay of the public vehicles in intersection is as small as possible between intersection while continuous priority pass；
Module one：The green ripple of tramcar passes through；
Module one is to apply for accumulative stop frequency S of the preferential tramcar in target zoneallMinimum object function, it is corresponding
Algorithm it is as follows：
<mrow>
<mi>min</mi>
<mi> </mi>
<msub>
<mi>S</mi>
<mrow>
<mi>a</mi>
<mi>l</mi>
<mi>l</mi>
</mrow>
</msub>
<mo>=</mo>
<mi>min</mi>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<mi>S</mi>
<mi> </mi>
<mi>S</mi>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mi>j</mi>
</msubsup>
<mo>&le;</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>r</mi>
<mi>r</mi>
</mrow>
<mi>j</mi>
</msubsup>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>a</mi>
<mi>n</mi>
<mi>d</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>r</mi>
<mi>r</mi>
</mrow>
<mi>j</mi>
</msubsup>
<mo>+</mo>
<msub>
<mi>t</mi>
<mrow>
<mi>e</mi>
<mi>m</mi>
<mi>p</mi>
</mrow>
</msub>
<mo>&le;</mo>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mi>j</mi>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mn>1</mn>
<mi>j</mi>
</mrow>
</msubsup>
</mrow>
</mtd>
</mtr>
</mtable>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mi>e</mi>
<mi>l</mi>
<mi>s</mi>
<mi>e</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
<mrow>
<mi>s</mi>
<mo>.</mo>
<mi>t</mi>
<mo>.</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>&GreaterEqual;</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>g</mi>
<mi>min</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>=</mo>
<mi>C</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>0</mn>
<mo>&le;</mo>
<msub>
<mi>o</mi>
<mi>j</mi>
</msub>
<mo>&le;</mo>
<mi>C</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>,</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>g</mi>
<mi>min</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>,</mo>
<msub>
<mi>o</mi>
<mi>j</mi>
</msub>
<mo>&GreaterEqual;</mo>
<mn>0</mn>
<mo>&Element;</mo>
<mi>int</mi>
<mi>e</mi>
<mi>g</mi>
<mi>e</mi>
<mi>r</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein,Bright time, o are opened for the current phase green light of j-th of intersection tramcarjFor j-th of intersection
Absolute phase difference, a is positive integer, and C is the common period duration for coordinating control；
The time of j-th of intersection is reached for tramcar；
temp=(Ltr+Ld)/vtrThe clean up time of intersection is passed through for tramcar；For the green of j-th phase of intersection i-th
The lamp time,For the Minimum Green Time of j-th of phase of intersection i-th, qijFor j-th of intersection the i-th phase list
Cycle vehicle flowrate, SijFor the track saturation volume rate of j-th of phase of intersection i-th；
By integer space PSO Algorithm formula (5) and formula (6), solving result is brought into module as new constraints
Two；
Module two：Based on the timing designing for it is expected delay；
The signal priority of tramcar can give the transit time for taking other phase public vehicles, in order to ensure electric car right-of-way
On the premise of, signal timing dial should reduce the current delay of other phase public vehicles as far as possible, and its algorithm is as follows：
<mrow>
<mi>min</mi>
<mi> </mi>
<msub>
<mi>D</mi>
<mrow>
<mi>a</mi>
<mi>l</mi>
<mi>l</mi>
</mrow>
</msub>
<mo>=</mo>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>2</mn>
</mrow>
<mi>m</mi>
</munderover>
<msub>
<mi>D</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
<mrow>
<msub>
<mi>D</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mfrac>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>a</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>&times;</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>&times;</mo>
<msub>
<mi>S</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>S</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
</mtd>
<mtd>
<mrow>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>&GreaterEqual;</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>a</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>&le;</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>a</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>a</mi>
<mi>n</mi>
<mi>d</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>q</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>a</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>)</mo>
</mrow>
<mo>&GreaterEqual;</mo>
<mn>0</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mi>C</mi>
<mo>-</mo>
<mn>3</mn>
<msubsup>
<mi>t</mi>
<mi>s</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mi>mod</mi>
<mi> </mi>
<mi>C</mi>
<mo>-</mo>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>t</mi>
<mrow>
<mi>a</mi>
<mi>a</mi>
</mrow>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msubsup>
<mi>mod</mi>
<mi> </mi>
<mi>C</mi>
<mo>-</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>/</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mo>(</mo>
<mrow>
<msubsup>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
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Wherein,The time of stop line is reached for the vehicle head car of i-th of intersection jth phase；uijFor i-th of intersection jth
Phase considers the arrival rate after the influence of upstream intersection；
Using integer space particle cluster algorithm can in the hope of meet the signal phase timing of each intersection of object function and
Phase difference.
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| CN109003445A (en) * | 2018-07-09 | 2018-12-14 | 北方工业大学 | Tramcar priority signal control method facing effective green wave |
| CN109191835A (en) * | 2018-09-03 | 2019-01-11 | 北京全路通信信号研究设计院集团有限公司 | A kind of control method and system of tramcar operation |
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| CN110364003B (en) * | 2019-07-18 | 2021-05-14 | 大连海事大学 | Intersection double-line tramcar signal priority control method based on Internet of vehicles |
| CN111028521A (en) * | 2019-12-19 | 2020-04-17 | 东南大学 | Tramcar network green wave coordination control method and device |
| CN111028508A (en) * | 2019-12-19 | 2020-04-17 | 东南大学 | Tramcar steering control method and device based on path control |
| CN111311933A (en) * | 2020-02-19 | 2020-06-19 | 东南大学 | Green wave coordination control method and device for road-type left-turn line tramcar |
| CN111554107A (en) * | 2020-03-27 | 2020-08-18 | 北京星云互联科技有限公司 | Traffic control method, management platform, road side equipment and system |
| CN111554107B (en) * | 2020-03-27 | 2021-04-16 | 北京星云互联科技有限公司 | Traffic control method, management platform, road side equipment and system |
| CN112820126A (en) * | 2020-12-31 | 2021-05-18 | 北京交通大学 | Road right priority operation control and simulation method for non-invasive guided transport vehicle |
| CN112820126B (en) * | 2020-12-31 | 2021-08-24 | 北京交通大学 | Road right priority operation control and simulation method for non-invasive guided transport vehicle |
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| CN113291357B (en) * | 2021-04-25 | 2022-06-17 | 东南大学 | Intersection signal priority control method based on tramcar departure interval |
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| CN113299081B (en) * | 2021-04-30 | 2022-06-07 | 东南大学 | Green wave cooperative control optimization method for social vehicles and tramcars |
| CN115311868A (en) * | 2022-07-20 | 2022-11-08 | 武汉理工大学 | Bus priority-based trunk line coordination control method and device |
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