CN107919022A - A kind of intelligent traffic light signal control method of dynamic duration distribution - Google Patents
A kind of intelligent traffic light signal control method of dynamic duration distribution Download PDFInfo
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- CN107919022A CN107919022A CN201711169914.0A CN201711169914A CN107919022A CN 107919022 A CN107919022 A CN 107919022A CN 201711169914 A CN201711169914 A CN 201711169914A CN 107919022 A CN107919022 A CN 107919022A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The present invention relates to a kind of intelligent traffic light signal control method of dynamic duration distribution, the vehicle Flow Detection scheme of intelligent traffic light is designed first, dynamic duration distribution method is then designed, finally special car is handled by intersection.The present invention is in the design of method to vehicle flowrate, intersection vehicle condition (vehicle current vehicle speed, Vehicle length, following distance, automobile starting duration) and many factors such as human factor (person's development time) of driver account for, the problem of alleviating in the case that current vehicle number drastically increases, causing intersection crowded serious.After the present invention is promoted, it can be applied among intelligent traffic light signal control system field, improve the split of signal lamp, reduce average latency of the vehicle in intersection, the probability of accident generation is reduced, is of great significance to traffic light signals control system.
Description
Technical field
The present invention relates to the intelligence friendship of intelligent traffic light signal control technology field, more particularly to a kind of distribution of dynamic duration
Logical modulating signal control method.
Background technology
With the rapid development of computer technology, automatic control technology and artificial intelligence technology, for the intelligence of urban transportation
Control provides good technical foundation, improves the possibility that various traffic plans are realized.Due to the control of conventional traffic light
Scheme is controlled in the way of fixed timing, is not considered because of the different of vehicle flowrate real-time and in real time to green light
Time is adjusted correspondingly, and profit carries out the distribution of time not only serious waste traffic resource in this way, adds tail
The discharge of gas, and also be difficult to solve the problems, such as that urban transportation blocks.At present, intelligent Control System for Traffic Lights uses ratio approach
Realize, but this method is simply from being macroscopically detected the data of vehicle flowrate, and do not account for special car and (such as rescue
Protect car, fire fighting truck etc.) by the situation of intersection.
The content of the invention
The present invention is to overcome above-mentioned shortcoming, and it is an object of the present invention to provide a kind of intelligent traffic light letter of dynamic duration distribution
Number control method, the present invention is to vehicle flowrate, intersection vehicle condition (vehicle current vehicle speed, Vehicle length, following distance, automobile
Starting duration) and many factors such as human factor (person's development time) of driver account for, for alleviating traffic
Crowded state, being effectively reduced the average latency of vehicle has good effect, significant.
The present invention is to reach above-mentioned purpose by the following technical programs：A kind of intelligent traffic light signal of dynamic duration distribution
Control method, includes the following steps：
(1) the vehicle Flow Detection scheme of intelligent traffic light is designed；
(2) reduced value method and duration distribution method are designed；
(3) ratio approach is weighted with duration distribution method and merged, design obtains dynamic duration distribution method；
(4) special car is handled by intersection, and carries out the time distribution of traffic light signals.
Preferably, the design method of the vehicle Flow Detection scheme to intelligent traffic light is to pass through infrared ray sensor
Detect vehicle flowrate：By s2, s3, s5,s7The exit of sensor arrangement at the parting of the ways, by s1, s4, s6,s8Sensor arrangement from
At the Euclidean distance 100m of crossroad；Then the car hold-up summation of North and South direction is shown below：
The vehicle flowrate n that North and South direction is rolled away from is shown below：
The car for similarly calculating east-west direction is detained summation σwe, it is shown below：
The vehicle flowrate m that east-west direction rolls away from is shown below：
Preferably, the step (2) is designed according to arithmetic progression reduced value method, when east-west direction and the South and the North
To vehicle flowrate there are during difference, east-west direction green time TWgIt is shown below：
North and South direction green time TNgIt is shown below：
Wherein：Represent the ratio of East and West direction vehicle flowrate m and north-south vehicle flowrate n, TiniThe each direction of expression system
Initial green light time, μ0Represent ratio coefficient, numerical value 1；TsExpression etc. is than quantity coefficient, numerical value 2；μ1Represent ratio system
Number, numerical value 10；δ represents ratio coefficient, numerical value 10.
Preferably, the step (2) is designed as duration distribution method：Pass through the car to vehicle flowrate, intersection
Situation and the human factor of driver carry out comprehensive analysis, and the distribution of time is carried out with this；Wherein, vehicle condition includes
Vehicle current vehicle speed, Vehicle length, following distance, automobile starting duration；The human factor of driver is the reaction time of people.
Preferably, the step (3) is specially：Ratio approach is weighted with duration distribution method and is merged, is obtained
The green time T of east-west directionwg, North and South direction green time Tng, it is as follows：
Twg=α .TWg+β.Tg
Tng=α .TNg+β.Tg
Wherein, TWgRepresent the east-west direction long green light time obtained according to ratio approach, TNgExpression is obtained according to ratio approach
North and South direction long green light time, TgRepresent the long green light time obtained according to duration distribution method, α and β represent ratio approach respectively
With the weight shared by duration distribution method, α=β=0.5；
When green time distributes equally, the green time of east-west direction is divided to the green time T to turn left to thingwegLWith
And the green time T of East and West direction straight tripwegS, it is as follows：
The green time distribution method of North and South direction is identical with east-west direction distribution method.
Preferably, the method handled by intersection special car is by the license plate number of special car
Database will be entered, the license plate number detected will be matched, this one kind is possessed to the vehicle of special access right under the premise of matched
Priority be assigned as highest；When having detected that special car passes through, interruption application is sent to processor at once, is interrupting letter
Emergency method is performed in number, realizes treatment on special problems.
Preferably, it is described in treatment on special problems using special car without principle is stopped, when detecting special car
During by intersection, by adjusting the state of special car front signal light, realize special car in the state of no stop
Pass through crossing.
Preferably, the step (4) is to the time allocation method used therein of traffic light signals：Away from 90~100m of crossroad
Place one test point is set, when detected special car by when, point following three kinds of situation discussion：
(i) when front track crossing is green light, if existing long green light time is more than t+3, original long green light time is maintained,
Otherwise, when a length of t+3 of green light is adjusted；T drives to the time needed for crossing for special car；
(ii) when front track crossing is red light, if red light countdown duration is less than t, do not adjust；If when grow up
In t, then the countdown duration at the crossing is adjusted to t；T drives to the time needed for crossing for special car；
(iii) when front track crossing is amber light, then traffic lights are adjusted to green light, and green time is arranged to t；t
The time needed for crossing is driven to for special car.
The beneficial effects of the present invention are：(1) present invention can preferably alleviate congested traffic condition, significantly reduce car
Average latency；(2) present invention handles special car by intersection, reduces traffic accident
Rate, reduces the stand-by period of special car.
Brief description of the drawings
Fig. 1 is the overall procedure schematic diagram of the present invention；
Fig. 2 is the infrared ray sensor layout drawing of the embodiment of the present invention；
Fig. 3 is that the east-west direction of the embodiment of the present invention is more than North and South direction vehicle flowrate program flow diagram；
Fig. 4 is that the east-west direction of the embodiment of the present invention is less than North and South direction vehicle flowrate program flow diagram；
Fig. 5 is the ratio approach schematic diagram data of the embodiment of the present invention；
Fig. 6 is the three-dimensional data schematic diagram of the dynamic duration distribution method of the embodiment of the present invention；
Fig. 7 be the special car of the embodiment of the present invention by intersection when process chart；
Fig. 8 be the special car of the embodiment of the present invention by intersection when program flow diagram.
Embodiment
With reference to specific embodiment, the present invention is described further, but protection scope of the present invention is not limited in
This：
Embodiment：As shown in Figure 1, a kind of intelligent traffic light signal control method of dynamic duration distribution, including following step
Suddenly：
Step 1:The vehicle Flow Detection conceptual design of intelligent traffic light；
Step 1.1:The present invention detects vehicle flowrate by infrared ray sensor, as shown in the sensor arrangement figure in Fig. 2,
The present invention is by s2, s3, s5,s7The exit of sensor arrangement at the parting of the ways, by s1, s4, s6,s8Sensor arrangement is from cross
At the Euclidean distance 100m of crossing；System passes through formula 1：
θNS=∑0≤i≤1(S5·i+1-S3, i+2) (1)
Obtain the car hold-up summation θ of North and South directionNS, pass through formula 2：
N=∑s0≤i≤1S3, i+2 (2)
Calculate the vehicle flowrate n that North and South direction is rolled away from.With reason formula 3：
θWE=∑0≤i≤1(S4·i+4-S4, i+3) (3)
The car for obtaining east-west direction is detained summation θWE, pass through formula 4:
M=∑s0≤i≤1S4, i+3 (4)
Calculate the vehicle flowrate m that east-west direction rolls away from.
Step 2：Dynamic duration distribution method designs；
Step 2.1：The design of ratio approach, ratio approach of the invention are designed according to arithmetic progression, its flow
Figure is as shown in Figure 3 and Figure 4.When east-west direction and the vehicle flowrate of North and South direction are there are during difference, east-west direction green time (TWg)
As shown in formula 5：
North and South direction green time (TNg) as shown in formula 6：
In formula 5, formula 6,Represent East and West direction vehicle flowrate (m) and north-south vehicle flowrate (n) ratio, TiniTable
Show the initial green light time in each direction of system, μ0Represent ratio coefficient, numerical value 1, TsRepresent etc. be than quantity coefficient, numerical value
2, μ1Represent ratio coefficient, numerical value 10, δ represents ratio coefficient, numerical value 10.
Green time distribution condition is as shown in figure 5, wherein x-axis represents east-west direction vehicle flowrate (m) and North and South direction wagon flow
The ratio θ of (n) is measured, y-axis represents east-west direction long green light time.In the bright middle North and South direction of we and the time distribution side of east-west direction
Method is identical.
Step 2.2：Duration distribution method designs, and duration distribution method is by the way that to intersection vehicle condition, (vehicle is current
Speed, Vehicle length, following distance, automobile starting duration) and driver the various aspects such as human factor (person's development time)
Factor accounts for, and the distribution of time is carried out with this；Shown in varied situations not through the research person's development time
With situation, people will shorten in the more reaction time in the state of anxiety, and the person's development time is most when high-pressure
It hurry up, be about 0.16s, the average reaction time of people is 0.2s under normal circumstances, and the average operating time for starting automobile is
1.5s；Average speed of the vehicle when passing through traffic light crossing is 25~35Km/h, and average hundred kilometers of general-utility car adds
Speed duration is about 8~12s.
The implementation procedure of duration distribution method：By infrared ray sensor obtain thing, north and south Liang Ge crossings vehicle flowrate
Information m and n, car hold-up σ, wagon flow length f, average acceleration of vehicle a, according to law of physics formula 7：
And combine average speed of the vehicle in current traffic light intersection and work as v in 20~35Km/h and wagon flow length S.0
During=0m/s, 7 modification of formula is obtained into formula 8.Wherein hundred kilometers of acceleration duration t=12s, by formula 8：
At=v (8)
Obtain car acceleration a=2.25m/s2.Speed v=20km/h when making the vehicle pass through crossing, this data is substituted into public
Formula 8 obtains the acceleration time t of automobile1=2.5s, by formula 9：
Obtain accelerating displacement s1=7m.The average vehicle commander L of automobile is obtained by inspection information1In 4.3~4.8m, car stops
Safe distance be L2=1m, by formula 10：
Obtain T1, wherein M expression vehicle flowrates.Since the person's development time is tt1And the startup time of car is tt2, with reference to
Car hold-up σ, wherein tt1=0.2s, tt2=1.5s, can be according to formula 11：
T2=∑1≤i≤2tti·σ (11)
Draw time T2, T2Value meet T2=1.7* σ.Finally by according to formula 12：
Tg=∑1≤i≤2Ti (12)
Calculate the green light distribution time T drawn according to duration distribution methodg,TgValue meet relational expression Tg=
[0.94*M+1.7* σ+1.25,1.04*M+1.7 σ+1.25], wherein, M represents vehicle flowrate, and σ represents car hold-up.
Step 2.3：Dynamic duration distribution method designs, and dynamic duration distribution method is by ratio approach and duration distribution method
Fusion is weighted, obtains the green time (T of east-west directionwg), North and South direction green time (Tng) as shown in formula 13,14：
Twg=α .TWg+β.Tg (13)
Tng=α .TNg+β.Tg (14)
T in formula 13WgRepresent the east-west direction long green light time that is obtained according to ratio approach, T in formula 14ngRepresent basis
The North and South direction long green light time that ratio approach obtains, TgFor the long green light time obtained according to duration distribution method, α and β difference tables
Show ratio approach and the weight shared by duration distribution method, in the present invention α=β=0.5.Dynamic duration distribution method is used
Simulation software MATLAB carries out the drafting of 3-dimensional figure as shown in fig. 6, wherein x-axis represents east-west direction vehicle flowrate (m) and North and South direction
The ratio θ of vehicle flowrate (n), y-axis represent the vehicle that East and West direction is detained, and z-axis represents to distribute to East and West direction green time, and north-south is green
The lamp time method of salary distribution is herewith.
The present invention, by the green time of east-west direction, divides the green time turned left to thing equally when distributing the time
(TwegL), and the green time (T of East and West direction straight tripwegS), such as formula 15, shown in formula 16：
The green time distribution method of North and South direction is identical with east-west direction distribution method in the present invention.
In view of actual situation, T in the present inventionwegL、TwegSThe maximum that can be adjusted is 63s, when green light is changed into
63s is very big at last in the busy this change in crossroad.In view of to leave minimum standard duration to pedestrian,
The system sets TwegL、TwegSMinimum value be 10s.It is all very big to work as the vehicle flowrate at two crossings by sensor detection, passes through
The long green light time of dynamic duration distribution method conversion is both greater than 63s, the present invention is designed in terms of reasonability, by two sides
To green time concurrently set as 45s.
Step 3：Special car is handled by intersection；
Step 3.1：Special car license plate number adds database, and simply general situation is carried out in step 2, step 3
Design, transport need during not in view of some special cars by intersection, while to the consideration of special circumstances
Become one to system design success or not important index.Traffic specific demand has been done at corresponding optimization in the design
Reason, such as when the vehicle for having specific demand such as ambulance, fire fighting truck etc. are there is an urgent need for the situation by crossroad, in traditional traffic
In design, typically make a dash across the red light by force when ambulance need to pass through crossing at once, so do traffic control in no traffic police
In the case of be very easy to cause traffic accident.For this scene, the present invention proposes corresponding solution.By this area
The license plate number of special car is put into database.The license plate number detected is matched, can be by this under the premise of matched
The priority that class possesses the vehicle of special access right is assigned as highest.When system detectio is to when having special car by intersection,
Interruption application is sent to processor at once, emergency method is performed in interrupt function, realizes treatment on special problems.Special car
It is as shown in Figure 7 by the system process flow of intersection.
Step 3.2：Time distribution design when special car is by intersection, implementation procedure is as shown in figure 8, the invention
Be provided with a test point in the place away from 90~100m of crossroad, when detected such car by when, according to vehicle
20~30km/h of average passage rate, the time that emergency vehicle travels to crossing are obtained by formula 8 is t.When detecting the type
Car by when, and this front track crossing if existing long green light time is more than t+3, remains original when being green light
Long green light time, otherwise adjusts when a length of t+3 of green light.When detect the car of the type by when, and this front track crossing
For red light when, do not adjusted if red light countdown duration is less than t, if duration is more than t by the countdown at the crossing
Length is adjusted to t.When detecting that front track crossing is amber light, and having special car by intersection, by green time
It is arranged to t, it is contemplated that the time of amber light is 3s, therefore enough special car traveling outlets.
The technical principle for being the specific embodiment of the present invention and being used above, if conception under this invention institute
The change of work, during the spirit that its caused function is still covered without departing from specification and attached drawing, should belong to the present invention's
Protection domain.
Claims (8)
1. a kind of intelligent traffic light signal control method of dynamic duration distribution, it is characterised in that include the following steps：
(1) the vehicle Flow Detection scheme of intelligent traffic light is designed；
(2) reduced value method and duration distribution method are designed；
(3) ratio approach is weighted with duration distribution method and merged, design obtains dynamic duration distribution method；
(4) special car is handled by intersection, and carries out the time distribution of traffic light signals.
A kind of 2. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
The design method of the vehicle Flow Detection scheme to intelligent traffic light is to detect vehicle flowrate by infrared ray sensor：By s2,
s3, s5,s7The exit of sensor arrangement at the parting of the ways, by s1, s4, s6,s8Sensor arrangement from crossroad it is European away from
At 100m；Then the car hold-up summation of North and South direction is shown below：
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A kind of 3. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
The step (2) is designed according to arithmetic progression reduced value method, when east-west direction and the presence of the vehicle flowrate of North and South direction are poor
During value, east-west direction green time TwgIt is shown below：
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<mo>,</mo>
<mi>&theta;</mi>
<mo>&GreaterEqual;</mo>
<mn>1.5</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein：Represent the ratio of East and West direction vehicle flowrate m and north-south vehicle flowrate n, TiniAt the beginning of each direction of expression system
Beginning green time, μ0Represent ratio coefficient, numerical value 1；TsExpression etc. is than quantity coefficient, numerical value 2；μ1Represent ratio coefficient, number
It is worth for 10；δ represents ratio coefficient, numerical value 10.
A kind of 4. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
The step (2) is designed as duration distribution method：Pass through the vehicle condition to vehicle flowrate, intersection and driver
Human factor carries out comprehensive analysis, and the distribution of time is carried out with this；Wherein, vehicle condition includes vehicle current vehicle speed, vehicle
Length, following distance, automobile starting duration；The human factor of driver is the reaction time of people.
A kind of 5. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
The step (3) is specially：Ratio approach is weighted with duration distribution method and is merged, obtains the green light of east-west direction
Time Twg, North and South direction green time Tng, it is as follows：
Twg=α .TWg+β.Tg
Tng=α TNg+β.Tg
Wherein, TWgRepresent the east-west direction long green light time obtained according to ratio approach, TNgRepresent the south obtained according to ratio approach
The north is to long green light time, TgRepresent the long green light time that is obtained according to duration distribution method, α and β represent respectively ratio approach and when
Weight shared by long distribution method, α=β=0.5；
When green time distributes equally, the green time of east-west direction is divided to the green time T to turn left to thingwegLAnd east
Green time T of the west to straight tripwegS, it is as follows：
<mrow>
<msub>
<mi>T</mi>
<mrow>
<mi>w</mi>
<mi>e</mi>
<mi>g</mi>
<mi>L</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>T</mi>
<mrow>
<mi>w</mi>
<mi>e</mi>
<mi>g</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>T</mi>
<mrow>
<mi>w</mi>
<mi>e</mi>
<mi>g</mi>
<mi>S</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>T</mi>
<mrow>
<mi>w</mi>
<mi>e</mi>
<mi>g</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
</mrow>
The green time distribution method of North and South direction is identical with east-west direction distribution method.
A kind of 6. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
The method handled by intersection special car is that the license plate number of special car will be entered database, will be detected
To license plate number matched, the priority that this one kind is possessed to the vehicle of special access right under the premise of matched is assigned as most
It is high；When having detected that special car passes through, interruption application is sent to processor at once, emergency is performed in interrupt function
Method, realizes treatment on special problems.
A kind of 7. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
It is described to use special car, when detecting special car by intersection, to lead to without principle is stopped in treatment on special problems
The state of adjustment special car front signal light is crossed, realizes that special car passes through crossing in the state of no stop.
A kind of 8. intelligent traffic light signal control method of dynamic duration distribution according to claim 1, it is characterised in that：
The step (4) is to the time allocation method used therein of traffic light signals：In the place away from 90~100m of crossroad, one inspection is set
Measuring point, when detected special car by when, point following three kinds of situation discussion：
(i) when front track crossing is green light, if existing long green light time is more than t+3, original long green light time is maintained, it is no
Then, when a length of t+3 of green light is adjusted；T drives to the time needed for crossing for special car；
(ii) when front track crossing is red light, do not adjusted if red light countdown duration is less than t；If duration is more than t,
The countdown duration at the crossing is adjusted to t；T drives to the time needed for crossing for special car；
(iii) when front track crossing is amber light, then traffic lights are adjusted to green light, and green time is arranged to t；T is spy
Different vehicle drives to the time needed for crossing.
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