CN107730921B - Urban area traffic oversaturation traffic strategy control method - Google Patents
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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
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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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
- G08G1/081—Plural intersections under common control
Abstract
The invention provides a control method of an urban traffic oversaturation traffic strategy, which directly or indirectly relieves the oversaturation condition of a traffic intersection through setting different detectors. The detector comprises a relative detector and an absolute detector, the queuing length of the vehicles is calculated through the detection of the number of the vehicles, the green time is controlled according to the queuing length of the vehicles, the effective green time required by the vehicles to pass through the next intersection is calculated through the data detected by the detector of the upstream intersection through the associated relation at the downstream intersection, and the green time at the downstream intersection is optimized. By way of example in one direction, other directions are measured and calculated according to detectors in all directions, the green light time of the whole intersection is determined and optimized by the same method, and finally the oversaturation state of the whole intersection is relieved, so that the intersection plays a greater role, the road utilization rate is increased, and the effect of relieving traffic pressure is achieved.
Description
Technical field
The present invention relates to intelligent traffic signal control technology fields.
Background technique
Currently, as China's economic grows continuously and fast, especially speed of the city automobile owning amount just to be exceedingly fast in recent years
Degree increases, and the sharp increase of car ownership makes urban road more congestion, and the intersection of especially big city center is big
Many places are in saturation or over-saturation state.Congested in traffic aggravation not only results in huge economic loss, energy waste, pollution
Environment may result in the paralysis of city function if development is serious.Traffic congestion can also aggravate increasing for traffic accident, and
Traffic accident can aggravate traffic congestion again, form vicious circle, and traffic congestion has become the bottle for restricting economic development
Neck, the research to city supersaturation traffic condition is very necessary.
Current running traffic control system is other than single-point control, and in terms of coordinated control, main includes following several
Class: time-based coordinated control；Control system of online；Traffic regulation and control system；Traffic response control system；Traffic is adaptive
Answer control system.Typically represent system such as SCOOT, SCATS, OPAC, RHODES, SPOT/UTOPIA, VS-PLUS, MOVA,
SMART NETS/TUC etc..China city is newly-increased every year and the urban traffic signal control crossing that updates is all in ten thousand semaphores
Scale, meanwhile, the business circles in China have also gradually formed some representational traffic signal control systems, such as Nanjing Lai Sicheng
City's traffic control system, Hisense's Hicon traffic signal control system, relaxing for Shanghai Communications University reach urban traffic adaptive control system
Deng playing increasingly important role in the urban traffic management in China.And all there is supersaturation and hand in above-mentioned technology
The deficiency of logical policy control.
Present invention employs opposing detectors and absolute detector, and are controlled by controlling rule and control method accordingly
System, in the case where double control, the utilization rate of Lai Tigao road, and then to alleviate traffic congestion.
Summary of the invention
In order to solve the above technical problems, disclosing a kind of supersaturated Transportation Strategies control method, this method passes through installation two
Opposing detectors and an absolute detector prevent crossing overflow by controlling rule and corresponding control method accordingly
It generates.Wherein crossing one uses the control that is associated with upstream crossing to reach to supersaturated road by corresponding control method
The optimization and control effect of mouth.Crossing two passes through two opposing detectors and an absolute detector, two opposing detectors packets
Straight trip detector a and left turn detector b is included, determines the trigger condition of detector, each detector needs green with respective minimum
Saturation volume rate reaches vehicle queue length to calculate.Absolute detector c is placed on outlet most nearby.Specifically use following technical side
Case:
This method comprises the following steps:
(1) two adjacent crossroads are chosen, crossing one and crossing two are denoted as, the west exit at crossing two installs detection
Device, detector include two opposing detectors and an absolute detector；
(2) position of opposing detectors is determined, opposing detectors include straight trip detector a and left turn detector b, pass through use
The product of minimum green time and saturation volume rate seeks the maximum vehicle number C for allowing to pass throughn, accordingly and combine Vehicle length l
Admissible maximum vehicle queue length L is calculated with following distance cmaxn, required maximum vehicle queue length is detector
Length L' away from crossingn。
Then the determination formula of opposing detectors position is
Cn=Sn*gmin n
Lmax n=Cn*(l+c)
L′n=Lmax n
Wherein CnTo allow the maximum vehicle number passed through, SnFor saturation volume rate, gmin nFor minimum green time, Lmax n
For the admissible maximum vehicle queue length in crossing two, l-is Vehicle length, and c-is following distance；L′nFor the reality of detector
Length of the installation site away from crossing two.
1) the straight trip position detector a is determined, at this time n=1.
Wherein C1The maximum vehicle number passed through, S are allowed for the eastern import straight trip in crossing two1It is full for the eastern import straight trip in crossing two
And flow rate, gmin 1For the eastern minimum green time of import straight trip in crossing two, Lmax 1For the admissible maximum eastern import straight trip in crossing two
Vehicle queue length, l-are Vehicle length, and c-is following distance；It finally obtains, the installation site L ' for the detector a that keeps straight on1It is straight
Distance of the row detector away from crossing two.
2) position left turn detector b is determined, at this time n=2.
Wherein C2Respectively two southing mouth of crossing turns left to allow the maximum vehicle number passed through, S2It is left for two southing mouth of crossing
Turn saturation volume rate, gmin 2For the minimum green time of two southing mouth of crossing left-hand rotation, Lmax 2For the admissible maximum southing mouth in crossing two
Left turning vehicle queue length, l-are Vehicle length, and c-is following distance；Finally obtain the installation site L ' of left turn detector b2For
Distance of the left turn detector away from crossing two.
(3) position of absolute detector is determined, the riding position of absolute detector c is two exit of crossing；
(4) control strategy and the optimization for determining local controller then show the reality detected when detector is occupied
Queue length is greater than the maximum queue length allowed；Optimization is realized by calculating effective green time, when calculating Effective Green Time
Between formula are as follows:
Ln=cn*(l+c)
ge n=Ln/uw
Wherein ge n- the effective green time needed for detector queue length, Ln- the reality detected for detector
Queue length, cn- actual vehicle the number detected for detector, uw- it is the eastern import evanescent wave velocity of wave in crossing one, uf- it is smooth
Scanning frequency degree, u-are the speed of service of the eastern import in crossing one；L-is Vehicle length, and c-is following distance；
1) as straight trip detector a, when tri- detectors of left turn detector b, absolute detector c are not occupied
Control strategy are as follows: the eastern import straight trip in crossing two, southing mouth turn left, and the vehicle that northing mouth is turned right puts green light, continues
It is current；Continue the passage that maintains the original state in crossing one；Without optimization.
2) when only straight trip detector a is occupied, n=1. at this time
Control strategy are as follows: red light is put in the eastern import straight trip in crossing two, and no through traffic, and southing mouth turns left, the vehicle that northing mouth is turned right
Green light is put, continues to pass through.Optimization Steps are as follows: the actual vehicle number c that crossing one is detected according to straight trip detector a1To count
Calculate actual queue length L1, then pass through practical queue length L1With evanescent wave velocity of wave uwIt is effective green needed for crossing one to calculate
Lamp time ge1To optimize.
3) when keep straight on detector and left turn detector are occupied, n=2 at this time.
Control strategy are as follows: red light is put in the eastern import straight trip in crossing two and the left-hand rotation of southing mouth, and no through traffic, the vehicle that northing mouth is turned right
Green light is put, continues current Optimization Steps are as follows: the actual vehicle number c that crossing one is detected according to left turn detector b2To count
Calculate actual queue length L2, then pass through practical queue length L2With evanescent wave velocity of wave uwIt is effective green needed for crossing one to calculate
Lamp time ge2To optimize.
4) when three detectors are occupied, n=3. at this time
Control strategy are as follows: the eastern import straight trip in crossing two, southing mouth turns left and red light is put in the right-hand rotation of northing mouth, and no through traffic.
Optimization Steps are as follows: the actual vehicle number c that crossing one is detected according to absolute detector c3To calculate actual queue length L3, then
Pass through practical queue length L3With evanescent wave velocity of wave uwCome effective green time g needed for calculating crossing onee3To optimize.
The present invention has following beneficial technical effect:
1, invention is suitable for the adjacent right-angled intersection of any two, does not limit specifically crossing, is suitable for appointing
What adjacent two adjacent crossroads, can be applied to the crossing of different cities.
2, by the setting of opposing detectors and absolute detector, pass through the testing number of opposing detectors and absolute detector
According to, carrying out the control to signal lamp, and then the passage of vehicle is controlled, most can efficiently control the operation of vehicle, it can be with
Prevent the generation of overflow, the control problem of effective solution supersaturation traffic.
3, crossing one is by being associated with control with upstream, can optimization of road joints control effect.
Detailed description of the invention
Fig. 1 is technical solution figure.
Fig. 2 is crossing and detector distribution map.
Fig. 3 is opposing detectors specific location schematic diagram.
Fig. 4 is absolute detector specific location schematic diagram.
Fig. 5 is control strategy flow chart.
Specific embodiment
It is described in detail with reference to the accompanying drawing for technical solution used by Summary, key step is such as
Under:
Step 1: choosing two adjacent crossroads first, is named as crossing one and crossing two, with exporting to the west for crossing two
It is studied for mouthful, and detector is installed in the west exit at crossing two.Wherein detector includes that two opposing detectors and one are exhausted
To detector.
Step 2: the position of opposing detectors is determined.By the way that detector is arranged, trigger condition is determined, opposing detectors can
Including the detector a and left turn detector b that keeps straight on.It allows to pass through by being asked with the product of minimum green time and saturation volume rate
Maximum vehicle number Cn, admissible maximum vehicle queue length L is calculated accordingly and in conjunction with Vehicle length l and following distance cmaxn,
Required maximum vehicle queue length is length L' of the detector away from crossingn。
The determination formula of opposing detectors position is
Cn=Sn*gmin n
Lmax n=Cn*(l+c)
L′n=Lmax n
Wherein Cn--- the maximum vehicle number passed through is allowed,
Sn--- saturation volume rate,
gmin n--- minimum green time,
Lmax n--- the admissible maximum vehicle queue length in crossing two,
L --- Vehicle length,
C --- following distance,
L′n--- length of the actual installation position far from crossing two of detector.
1) the straight trip position detector a is determined, at this time n=1.
Wherein C1The maximum vehicle number passed through, S are allowed for the eastern import straight trip in crossing two1It is full for the eastern import straight trip in crossing two
And flow rate, gmin 1For the eastern minimum green time of import straight trip in crossing two, Lmax 1For the admissible maximum eastern import straight trip in crossing two
Vehicle queue length, l-are Vehicle length, and c-is following distance；It finally obtains, the installation site L ' for the detector a that keeps straight on1It is straight
Distance of the row detector away from crossing two.
2) position left turn detector b is determined, at this time n=2.
Wherein C2Respectively two southing mouth of crossing turns left to allow the maximum vehicle number passed through, S2It is left for two southing mouth of crossing
Turn saturation volume rate, gmin 2For the minimum green time of two southing mouth of crossing left-hand rotation, Lmax 2For the admissible maximum southing mouth in crossing two
Left turning vehicle queue length, l-are Vehicle length, and c-is following distance；Finally obtain the installation site L ' of left turn detector b2For
Distance of the left turn detector away from crossing two.
Step 3: determining the position of absolute detector, the riding position of absolute detector c be placed on outlet most nearby.
Why by absolute detector c be placed on outlet recently go out, be because such absolute detector c can be detected simultaneously by eastern import
Straight trip, southing mouth turn left, and all vehicles that northing mouth is turned right can integrate the supersaturation for guaranteeing to pass through two vehicle of crossing.
Be conducive to total vehicle data being transmitted to semaphore, convenient for the totality to signal lamp to the vehicle for importing west exit
Control prevents from causing the overflow phenomena of vehicle since the vehicle for entering crossing is excessive.Also opposing detectors are played simultaneously
The effect being further ensured that keeps opposing detectors safer.
Step 4: control strategy and the optimization of local controller are determined.
If detector, which is not occupied, is occupied i.e. a=for 0. such as straight trip detector assuming that it is 1 that 1. detectors, which are occupied,
1, left turn detector is not occupied i.e. b=0, and absolute detector is occupied i.e. c=1.
Assuming that 2. when detector is occupied, then show the practical queue length L detectednMaximum greater than permission is lined up
Length Lmax n.For example, straight trip detector is occupied, then show the practical queuing for the vehicle that the straight trip detector a of crossing two is detected
Length reaches the maximum queue length for allowing eastern import through vehicles to enter.
Assuming that 3. practical queue length LnL is calculated according to formulan=C 'n* (l+c) is calculated.
Control strategy and the optimization for determining local controller then show the practical row detected when detector is occupied
Team leader's degree is greater than the maximum queue length allowed；Optimization is realized by calculating effective green time, calculates effective green time
Formula are as follows:
Ln=cn*(l+c)
ge n=Ln/uw
Wherein ge n- the effective green time needed for detector queue length, Ln- the reality detected for detector
Queue length, cn- actual vehicle the number detected for detector, uw- it is the eastern import evanescent wave velocity of wave in crossing one, uf- it is smooth
Scanning frequency degree, u-are the speed of service of the eastern import in crossing one；L-is Vehicle length, and c-is following distance.
(1) as straight trip detector a, when tri- detectors of left turn detector b, absolute detector c are not occupied, i.e. a=
When 0, b=0, c=0, at this point, the eastern import straight trip in crossing two, southing mouth turn left, the right-hand rotation of northing mouth may continue to clearance vehicle.
Work as a=0, when b=0, c=0, crossing two allows eastern import to keep straight on, and southing mouth turns left, northing mouth right-turning vehicles into
Enter, and eastern import straight trip, southing mouth turn left, the maximum value that the queue length that northing mouth is turned right not up to allows.
Control strategy:
Crossing two: eastern import straight trip, southing mouth turn left, and the vehicle that northing mouth is turned right can put green light, continue to pass through.
Crossing one: continue to maintain the original state current, do not have to special optimization.
Optimization: crossing one does not have to special optimization at this time, will not congestion, continue to keep current.
(2) when the i.e. a=1 when only straight trip detector a is occupied, b=0, c=0, at this point, the eastern import straight trip in crossing two
Red light is set, and no through traffic；Southing mouth turns left, and the right-hand rotation of northing mouth may continue to put green light, continues clearance vehicle.
Work as a=1, when b=0, c=0, the practical queue length that crossing two allows eastern import through vehicles to enter reaches permission
The maximum value of entrance then allows eastern import straight trip to become red light, and the vehicle of the eastern import straight trip in crossing two is forbidden to enter.Southing mouth at this time
Turn left and the queue length of the vehicle of northing mouth right-hand rotation is also not up to the maximum value allowed.Southing mouth is allowed to turn left, northing
The vehicle that mouth is turned right enters.
Control strategy:
Crossing two: red light is put in eastern import straight trip, and no through traffic, and southing mouth turns left, and the vehicle that northing mouth is turned right can be put green
Lamp continues to pass through.
Crossing one: the practical queue length L that can be detected according to straight trip detector1When Effective Green Time to calculate crossing one
Between optimize, specific Optimization Steps are shown in optimization 1.
Optimization 1: the practical queue length L detected according to straight trip detector a1Have needed for the eastern import in crossing one to determine
Imitate green time；
L1=c1*(l+c)
ge 1=L1/uw
Wherein ge1--- it is the effective green time that straight trip detector queue length needs,
L1--- it is the practical queue length that straight trip detector a is detected,
c1--- it is the actual vehicle number that straight trip detector a is detected,
uw--- it is the eastern import evanescent wave velocity of wave in crossing one,
uf--- it is the speed that passes unimpeded,
U --- it is the speed of service of the eastern import in crossing one,
L --- it is Vehicle length,
C --- it is following distance；
The practical queue length L detected according to straight trip detector a1With the eastern import evanescent wave velocity of wave u in crossing onew, to calculate
Effective green time g required for the eastern import straight trip detector queue length in crossing onee1.And then come the queuing of optimization of road joints one into
And influenced to alleviate the supersaturated bring in crossing one, so that crossing one is become unobstructed.And then optimize the control to crossing one,
The clearance mode at final optimization pass crossing one.
(3) when the i.e. a=1 when straight trip detector and left turn detector are occupied, b=1, c=0, at this point, two east of crossing
Import straight trip, the left-hand rotation of southing mouth are respectively provided with red light, and no through traffic；, northing mouth, which is turned right, can continue to put green light, continue clearance vehicle
?.
Work as a=1, when b=1, c=0, practical queuing that crossing two allows eastern import straight trip and southing mouth left turning vehicle to enter
Length reaches the maximum value allowed access into, then eastern import straight trip and southing mouth is allowed to turn left to become red light, forbids crossing two eastern
The vehicle that import straight trip and southing mouth turn left enters.The queue length for the vehicle that northing mouth is turned right at this time also not up to allows most
Big value.Southing mouth is allowed to turn left, the vehicle that northing mouth is turned right enters.
Control strategy:
Crossing two: red light is put in eastern import straight trip and the left-hand rotation of southing mouth, and no through traffic, and the vehicle that northing mouth is turned right can be put green
Lamp continues to pass through.
Crossing one: the practical queue length L that crossing one can be detected according to left turn detector2To calculate the effective of crossing one
Green time optimizes, and specific Optimization Steps are shown in optimization 2.
Optimization 2: the practical queue length L detected according to left turn detector b2Have needed for the eastern import in crossing one to determine
Imitate green time；
L2=c2*(l+c)
ge 2=L2/uw
Wherein ge2--- it is the effective green time that left turn detector b queue length needs,
L2--- it is the practical queue length that left turn detector b is detected,
c2--- it is the actual vehicle number that left turn detector b is detected,
uw--- it is the eastern import evanescent wave velocity of wave in crossing one,
uf--- it is the speed that passes unimpeded,
U --- for the speed of service of the eastern import in crossing one；
L --- it is Vehicle length,
C --- it is following distance；
The practical queue length L detected according to left turn detector b2With the eastern import evanescent wave velocity of wave in crossing one, to calculate
Effective green time g required for the eastern import straight trip detector queue length in crossing onee2.And then come the queuing of optimization of road joints one into
And influenced to alleviate the supersaturated bring in crossing one, so that crossing one is become unobstructed.And then optimize the control to crossing one,
The clearance mode at final optimization pass crossing one.
(4) when the i.e. a=1 when three detectors are occupied, b=1, c=1, at this point, eastern import straight trip, southing mouth are left
Turn, northing mouth three directions of turning right all redden lamp, and all no through traffic.
Work as a=1, when b=1, c=1, crossing two allows eastern import to keep straight on, southing mouth turns left and northing mouth is turned right three sides
The practical queue length entered to vehicle reaches the maximum value allowed access into, then three directions is allowed to become red light, road closed to passage
The vehicle in two or three directions of mouth enters.
Control strategy:
Crossing two: eastern import straight trip, southing mouth turns left and red light is put in the right-hand rotation of northing mouth, and no through traffic.
Crossing one: the practical queue length L that crossing one can be detected according to absolute detector3To calculate the effective of crossing one
Green time optimizes, and specific Optimization Steps are shown in optimization 3.
Optimization 3: the practical queue length L detected according to absolute detector c3Have needed for the eastern import in crossing one to determine
Imitate green time；
L3=c3*(l+c)
ge 3=L3/uw
Wherein ge3--- it is the effective green time that absolute detector c queue length needs,
L3--- it is the practical queue length that absolute detector c is detected,
c3--- it is the actual vehicle number that absolute detector c is detected,
uw--- it is the eastern import evanescent wave velocity of wave in crossing one,
uf--- it is the speed that passes unimpeded,
U --- for the speed of service of the eastern import in crossing one；
L --- it is Vehicle length,
C --- it is following distance；
The practical queue length L detected according to absolute detector c3With the eastern import evanescent wave velocity of wave u in crossing onewTo calculate
Effective green time g required for the eastern import straight trip detector queue length in crossing onee3.And then come the queuing of optimization of road joints one into
And influenced to alleviate the supersaturated bring in crossing one, so that crossing one is become unobstructed.And then optimize the control to crossing one,
The clearance mode at final optimization pass crossing one.
Claims (1)
1. a kind of city area-traffic supersaturation Transportation Strategies control method, which comprises the steps of:
(1) two adjacent crossroads to be chosen, crossing one and crossing two are denoted as, the west exit at crossing two installs detector,
Detector includes two opposing detectors and an absolute detector；
(2) position of opposing detectors is determined, opposing detectors include straight trip detector a and left turn detector b, by with minimum
The product of green time and saturation volume rate seeks the maximum vehicle number C for allowing to pass throughn, accordingly and combine Vehicle length l and vehicle
Spacing c calculates admissible maximum vehicle queue length Lmaxn, required maximum vehicle queue length is detector away from road
The length L' of mouthn；
The determination formula of opposing detectors position is
Cn=Sn*gmin n
Lmax n=Cn*(l+c)
L′n=Lmax n
Wherein CnTo allow the maximum vehicle number passed through, SnFor saturation volume rate, gmin nFor minimum green time, Lmax nFor crossing
Two admissible maximum vehicle queue lengths, l-are Vehicle length, and c-is following distance；L′nFor the actual installation position of detector
Set the length away from crossing two；
1) the straight trip position detector a, n=1 are determined
Wherein C1The maximum vehicle number passed through, S are allowed for the eastern import straight trip in crossing two1For the eastern import straight trip saturated flow in crossing two
Rate, gmin1For the eastern minimum green time of import straight trip in crossing two, Lmax1For the admissible maximum eastern import through vehicles row in crossing two
Team leader's degree, l-are Vehicle length, and c-is following distance；It finally obtains, the installation site L ' for the detector a that keeps straight on1For straight trip detection
Distance of the device away from crossing two；
2) position left turn detector b, n=2 are determined
Wherein C2Respectively two southing mouth of crossing turns left to allow the maximum vehicle number passed through, S2Turn left for two southing mouth of crossing full
And flow rate, gmin2For the minimum green time of two southing mouth of crossing left-hand rotation, Lmax2For the admissible maximum southing mouth left-hand rotation vehicle in crossing two
Queue length, l-are Vehicle length, and c-is following distance；Finally obtain the installation site L ' of left turn detector b2For inspection of turning left
Survey distance of the device away from crossing two；
(3) position of absolute detector is determined, the riding position of absolute detector c is two exit of crossing；
(4) control strategy and the optimization for determining local controller then show the practical queuing detected when detector is occupied
Length is greater than the maximum queue length allowed；Optimization is realized by calculating effective green time, calculates effective green time
Formula are as follows:
Ln=cn*(l+c)
gen=Ln/uw
Wherein genFor the effective green time that detector queue length needs, LnFor the practical queue length that detector detects, cn
For the actual vehicle number that detector detects, uwFor the eastern import evanescent wave velocity of wave in crossing one, ufFor the speed that passes unimpeded, u is one east of crossing
The speed of service of import；L is Vehicle length, and c is following distance；
1) as straight trip detector a, when tri- detectors of left turn detector b, absolute detector c are not occupied
Control strategy are as follows: the eastern import straight trip in crossing two, southing mouth turn left, and the vehicle that northing mouth is turned right puts green light, continues to pass through；
Continue the passage that maintains the original state in crossing one；
2) when only straight trip detector a is occupied, n=1
Control strategy are as follows: red light is put in the eastern import straight trip in crossing two, and no through traffic, and southing mouth turns left, and the vehicle that northing mouth is turned right is equal
Green light is put, continues to pass through；Optimization Steps are as follows: the actual vehicle number c that crossing one is detected according to straight trip detector a1To calculate reality
The queue length L on border1, then pass through practical queue length L1With evanescent wave velocity of wave uwWhen come Effective Green Time needed for calculating crossing one
Between ge1To optimize；
3) when straight trip detector and left turn detector are occupied, n=2
Control strategy are as follows: red light is put in the eastern import straight trip in crossing two and the left-hand rotation of southing mouth, and no through traffic, and the vehicle that northing mouth is turned right is equal
Green light is put, continues to pass through, Optimization Steps are as follows: the actual vehicle number c that crossing one is detected according to left turn detector b2To calculate reality
The queue length L on border2, then pass through practical queue length L2With evanescent wave velocity of wave uwWhen come Effective Green Time needed for calculating crossing one
Between ge2To optimize；
4) when three detectors are occupied, n=3
Control strategy are as follows: the eastern import straight trip in crossing two, southing mouth turns left and red light is put in the right-hand rotation of northing mouth, and no through traffic；Optimization
Step are as follows: the actual vehicle number c that crossing one is detected according to absolute detector c3To calculate actual queue length L3, then pass through
Practical queue length L3With evanescent wave velocity of wave uwCome effective green time g needed for calculating crossing onee3To optimize.
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| CA3027538A1 (en) * | 2018-07-25 | 2020-01-25 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for controlling traffic lights |
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