CN108010346A - A kind of the pulse of cities traffic signal control system and method - Google Patents
A kind of the pulse of cities traffic signal control system and method Download PDFInfo
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Abstract
The invention discloses a kind of the pulse of cities traffic signal control system and method, major control thought " based on the green ripple control of main line; supplemented by the self adaptive control of branch line crossing ", signal control and optimization method including urban intersection point, line, surface, its principle is different from other city signal systems, but based on a kind of optimization structure on the basis of bionics.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly, to a kind of the pulse of cities traffic signal control system and side
Method.
Background technology
Modern City Traffic congestion has been common problem, with automotive society arriving, how to improve road network traffic efficiency,
Vehicles average delay and exhaust emissions are reduced, is the problem of a urgent need to resolve.Because the presence of city road network level-crossing,
The traffic flow that conflicts is inevitable, so traffic light signal system is must be provided with, but traditional traffic lights only consider traffic safety, need
The optimization for studying the raising intersection traffic lights on the basis of traffic safety is ensured is passed through.
Home and abroad has some research institutions and enterprise and contributes to intersection signal optimization at present, some flourishing states
Different optimization signal systems has also been gone up in family or flourishing city, in the world with systems such as SCOOT, TRANSYT, SCATS and ACTRA
To represent, these systems are difficult to set up unified model, and construction cost also remains high, and implements by engineering factor and specialty
Level restriction is very big, therefore is also difficult to solve urban road network traffic congestion phenomenon.
The content of the invention
The purpose of the present invention is pulsing to optimize signal system with bionics viewpoint, road network traffic efficiency is improved, solves city
Traffic congestion, and reduce system can enforcement difficulty.
To achieve these goals, technical scheme is as follows：A kind of the pulse of cities traffic signal control system and
Method, mainly by overall the pulse of cities whistle control system, regional city fluctuating signal control system, main line the pulse of cities signal
Control system, single-point the pulse of cities whistle control system are formed.
The totality the pulse of cities whistle control system includes：City induction issue subsystem, urban signal control management
Subsystem, city traffic information gathering subsystem, traffic information data link, signal control management information link, city signal
System-computed center, city signal system administration center.
The regional city fluctuating signal control system includes：Minor road, arterial road, node detectors, node road
Mouth, branch line crossing, city simplify road network.
The main line the pulse of cities whistle control system is by outlet detector, import detector, tactics detector, signal
Machine, strategic detector, crossing n, crossing 2, tachogenerator, crossing 1 form.
The single-point the pulse of cities whistle control system includes：Tactics detector, semaphore, sensor data cable, single-point
Optimization of road joints, outlet detector, entrance detector.
The beneficial effects of the invention are as follows:Be different from adaptive optimization, optimization method of the invention be using " ripple control as
It is main, supplemented by self adaptive control ", the arterial road of city main artery class undertakes more magnitudes of traffic flow and passes through, with adaptive algorithm
Go to dredge, not only calculation amount is huge, acquisition parameter is more, engineering is complicated, but also is limited by road network geometric parameter and traffic accident etc.
Accident, it is difficult to solve traffic congestion.
Cardiovascular system of human body is not only numerous and jumbled but also undertakes various Exchange of material and energy, much more complex more than city road network,
But many years can be efficiently and stably run, its root is that orderly pulsation and the sensory feedback tune of nervous system of heart
It is whole, urban transportation is modeled as cardiovascular system, traffic flow in a planned way intervene and is let pass, city arterial highway is passed in and out wagon flow
Put with certain frequency beat pulsation suction, then take branch and small crossing adaptive control scheme, control thinking is simple and reliable
And be readily appreciated that, engineering construction is convenient, can not only reduce traffic congestion, but also can improve road network traffic efficiency, reduces flat
Equal delay time at stop and exhaust emissions.
Brief description of the drawings
Fig. 1 is overall the pulse of cities whistle control system totality artwork in the present invention；City induction issue subsystem 1-
1st, urban signal control management subsystem 1-2, city traffic information gathering subsystem 1-3, traffic information data link 1-4, letter
Number control management information link 1-5, city signal system-computed center 1-6, city signal system administration center 1-7.
Fig. 2 is regional city fluctuating signal control system region artwork in the present invention；Minor road 2-1, arterial road
2-2, node detectors 2-3, node crossing 2-4, branch line crossing 2-5, city simplify road network 2-6.
Fig. 3 is main line the pulse of cities whistle control system main line artwork in the present invention；Export detector 3-1, import inspection
Survey device 3-2, tactics detector 3-3, semaphore 3-4, strategic detector 3-5, crossing n3-3,2 3-7 of crossing, tachogenerator 3-
8th, crossing 13-9.
Fig. 4 is single-point the pulse of cities whistle control system single-point artwork in the present invention；Tactics detector 4-1, semaphore
4-2, sensor data cable 4-3, single spot optimization crossing 4-4, outlet detector 4-5, entrance detector 4-6.
Embodiment
In order to make the implement technical means of the present invention, creation characteristic, reached purpose and effect easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figs 1-4, a kind of the pulse of cities traffic signal control system and method, mainly by overall the pulse of cities signal
Control system, regional city fluctuating signal control system, main line the pulse of cities whistle control system, single-point the pulse of cities signal control
System processed is formed.
The totality the pulse of cities whistle control system includes：City induction issue subsystem 1-1, urban signal control pipe
Manage subsystem 1-2, city traffic information gathering subsystem 1-3, traffic information data link 1-4, signal control management message sense
Road 1-5, city signal system-computed center 1-6, city signal system administration center 1-7.
The regional city fluctuating signal control system includes：Minor road 2-1, arterial road 2-2, node detectors 2-
3rd, node crossing 2-4, branch line crossing 2-5, city simplify road network 2-6.
The main line the pulse of cities whistle control system is by outlet detector 3-1, import detector 3-2, tactics detector
3-3, semaphore 3-4, strategic detector 3-5, crossing n3-3,2 3-7 of crossing, tachogenerator 3-8, crossing 13-9 compositions.
The single-point the pulse of cities whistle control system includes：Fig. 4 is single-point the pulse of cities signal control system in the present invention
System single-point artwork；Tactics detector 4-1, semaphore 4-2, sensor data cable 4-3, single spot optimization crossing 4-4, outlet detection
Device 4-5, entrance detector 4-6.
As shown in Figure 1, the pulse of cities traffic signal control system is overall is serviced by calculating central server, administrative center
Device, semaphore at different levels, wagon detector at different levels and induction issue subsystem etc. are formed, its cardinal principle is various things in city
The mode that reason space, the traffic flow conditions of time change into information flow is gathered, calculates, stored and controls in the present system, information
The input and output of stream meet cardiac module feature, therefore can carry out bionics Study to it；After simplification by each city sensing network,
Whistle control system, induction delivery system and center calculation management dual system are formed, each per the still stacking of city subsystem rear portion
Level road network information stream, but the input and output situation of information flow can be with representative shown in Fig. 1.
The concrete methods of realizing of the present invention is as follows：
Congestion event, average speed, average road occupying rate and the mean flow of each measurement period detection of vehicle detection subsystem in Fig. 1
The traffic informations such as amount, which finally converge to, to be calculated in central server, online calculates prioritization scheme by calculating center, then pass through pipe
Reason central server, which is issued to prioritization scheme in semaphores at different levels, to be performed, while is handed down to induction subsystem and is shown road network shape
Condition, allows traffic participant actively to select the optimization route of oneself；Outfield wagon detector at different levels, semaphore, signal lamp and induction
The equipment operation failure situation of display screen is also dealt into administrative center by communication network, so as to arrange suitable maintenance staff to scene
Service, status of equipment is also one kind of this set system information flow management, similar to the self diagnosis regenerative system of human body.
Simplification district system as shown in Figure 2 can be often divided into subsystem, always there is one or several in each district system
A node crossing, when the Regional Traffic Flow is excessive or current feedback control scheme is not optimal enough, these node crossings can usually go out
Existing traffic congestion, therefore node detectors are often laid at such crossing；Node detectors once detect congestion event, then conduct
The preferential criterion that calculating center actively optimizes.
It is the ratio of inlet flow rate q and saturation volume Qs if node crossing saturation degree is represented with σ, saturation volume is derived from gold
One's paternal grandfather's elder brother's formula, is the empirical equation that Britain traffic engineer gold uncle has found, what is shown is that road saturation volume Qs has a lot of social connections with road
The relation of W is spent, expression formula is：
Qs=196W2-979W+2964
σ= q/ Qs
As node crossing saturation degree σ ≈ 1 or respectively to importing strategy detector average speed level off to 0 when, can determine whether out the node
Crossing is in traffic congestion state.Road width is known parameters, and inlet flow rate can accurately be obtained by wagon detector, import
Average speed can also be obtained by strategic detector, therefore the criterion can be used as system optimization threshold value critical point.
Main feature of the present invention is based on the green ripple control of main line, and after node crossing congestion occurs, main target of optimization is dry
Each crossing common period T of line and design speed per hour V.What common period influenced is that green wave band is wide, and what design speed per hour influenced is each crossing
Green wave phase is poor.
Common period can be tried to achieve by following formula：T=Max(T1,T2......Tn)
What T1, T2, Tn were represented is the instant periodic quantity at each crossing in formula, and common period is the maximum in each crossing cycle, is asked
Each intersection annunciator performs green ripple scheme by this uniform period after going out the value.
Main line Loop detector layout figure as shown in Figure 3, because being green ripple control, can be handed over per ripple wagon flow traveling situation as continuous
Through-flow model analysis, vehicle density, design speed per hour continuously differentiable, continuing to use Greenshields formula V- ρ curves can obtain：
V=Vf (1-ρ/ρjam)
The free speed per hour in the city that Vf is represented in formula, it is limit vehicle density generally to take 80km/h, ρ jam, and ρ is real-time traffic flow
Density.Again because vehicle density is a certain vehicle number being instantaneously distributed in unit length, this parameter is difficult to survey by technological means
, but ρ/ρ jam ratios can use saturation degree σ=q/ Qs approximate substitutions, and real-time traffic can be measured by wagon detector, be satisfied
It can be obtained with flow by road width, so the design speed per hour of the green ripple of main line can be calculated.
There is design speed per hour V, further according on some wagon flow direct of travel on main line, first crossing stop line to second
The space length L of a crossing stop line is it is known that then the phase difference δ at the two crossings can be obtained with following formula：
δ=V×L
And so on, out of phase when each intersection annunciator on main line performs gradual green ripple scheme can be obtained successively
Difference, the control program that each crossing phase difference of main line and common period form is issued by administrative center, so that it may realizes green ripple control.
Main line Loop detector layout figure as shown in Figure 3, after green ripple scheme performs on main line, can be obtained by strategic detector
Parameter existing green ripple scheme is assessed, the values for actual speed that wherein strategy detector in section measures can be used to correct design
Speed per hour, and speed, flow value, road occupying rate can be used for history data store, statistics and analysis, and traffic is carried out based on historical data
Stream prediction, basic forecast are based on Kalman filtering algorithm, such as following formula:
x（t）=Ax(t-1)+Bu(t)+w(t)
X in formula（t）Represent the volume of traffic to be predicted of current time, comprising speed, flow, road occupying rate etc., x (t-1) represents previous
The known volume of traffic at a measurement period moment, A are volume of traffic state-transition matrixes, and B is traffic volume control matrix, and u (t) is current
Controlling traffic volume, w (t) are the current system control hot-tempered sound of process.
Actual vehicle detects discrete equation such as following formula：
z(t)=Ix(t)+v(t)
Z in formula（t）Represent the volume of traffic of currently practical detection, I represents wagon detector observing matrix, and x (t) is prediction traffic
Amount, v (t) represent current measurement error.
By the continuous recursive calculation of the two equations, so that it may predict the volume of traffic of some city test point of a certain moment, root
It is predicted that the volume of traffic gone out, historical data and actually detected value, constantly carry out system iteration optimization, then in a measurement period
System control tend to it is optimal, it is this prediction and optimization process be also to be completed in calculating center of the present invention.
Crossing tactics Loop detector layout figure as shown in Figure 4, for single-point intersection, no matter cross or T-shaped or more multiple
Miscellaneous crossing, its optimize calculate basis be based on it is each to, often to tactics detector by import detector, outlet detector structure
Into within a signal period, the queue length in the one before cycle is equal to the difference that import equivalent subtracts outlet equivalent, often to queuing
Discrete length equation is as follows:
P(k)= P（k-1）+[q(k)-Qsλ]C
P (k) is the queue length of this cycle in formula, and p (k-1) is the queue length of upper cycle, and q (k) is vehicle arriving rate, and Qs is
This to crossing saturation volume, λ for this to split, C is cycle time.Because each signal period queue length can pass through discrepancy
Mouth detector obtains, and vehicle arriving rate i.e. inlet flow rate can measure, and split is respectively obtained according to crossing to weight ratio, the cycle
Time can select optimal value in the discritized array of a semaphore memory storage, and the target of single spot optimization is exactly current period time
It is interior, respectively tend to be minimum to queue length.
Complex chart 1, Fig. 2, Fig. 3 understand that the green pulsation wave control principle of main line is to optimize at regular intervals once,
According to from node detectors saturation degree threshold value, node congestion event and the prediction of arterial traffic stream, calculating center and pipe are embodied
The data throughput capabilities at reason center, such as the shrinkage expansion of heart artery and vein vascular, traffic pressure is bigger, optimization cycle it is more short frequency
It is numerous, such as the exacerbation of heart rate load；It is non-self-adaptive property that this pulsation, which calculates, but the intervention that people sets.Nature is many existing
As all possessing self-adaptive features, it is intended to entropy and increases unordered, but mankind city needs orderly management, embodies people and sets factor and rule
Change control.
Complex chart 3, Fig. 4 understand that main line wagon flow is eventually transferred to each minor road or leaves city, but minor road is often
The narrow traffic capacity is limited, it is achieved that the control of green ripple is difficult, then and single spot optimization is just removed in branch line crossing by adaptive algorithm,
As much as possible dissipate each to queue length, minor road carries out trickle energy information as human capillary vessel's net and hands over
Change, unlike the present invention taken at branch line crossing single-point self adaptive control the purpose of be the free wagon flow of evacuation to each angle in city
Fall.
In conclusion the present invention is a kind of specific and enforceable city signal system control method and implantation of device example,
Major control thought " based on the green ripple control of main line, supplemented by branch line self adaptive control ", includes the signal control of city point, line, surface
System and optimization method, its principle are different from other city signal systems, but based on a kind of optimization structure on the basis of bionics.
The beneficial effects of the invention are as follows:Be different from adaptive optimization, optimization method of the invention be using " ripple control as
It is main, supplemented by self adaptive control ", the arterial road of city main artery class undertakes more magnitudes of traffic flow and passes through, with adaptive algorithm
Go to dredge, not only calculation amount is huge, acquisition parameter is more, engineering is complicated, but also is limited by road network geometric parameter and traffic accident etc.
Accident, it is difficult to solve traffic congestion.
Cardiovascular system of human body is not only numerous and jumbled but also undertakes various Exchange of material and energy, much more complex more than city road network,
But many years can be efficiently and stably run, its root is that orderly pulsation and the sensory feedback tune of nervous system of heart
It is whole, urban transportation is modeled as cardiovascular system, traffic flow in a planned way intervene and is let pass, city arterial highway is passed in and out wagon flow
Put with certain frequency beat pulsation suction, then take branch and small crossing adaptive control scheme, control thinking is simple and reliable
And be readily appreciated that, engineering construction is convenient, can not only reduce traffic congestion, but also can improve road network traffic efficiency, reduces flat
Equal delay time at stop and exhaust emissions.
The basic principles, main features and the advantages of the invention, the technology of the industry has been shown and described above
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the present invention by appended claims and
Its equivalent thereof.
Claims (7)
1. a kind of the pulse of cities traffic signal control system and method, it is characterised in that：Mainly by overall the pulse of cities signal control
System processed, regional city fluctuating signal control system, main line the pulse of cities whistle control system, the control of single-point the pulse of cities signal
System, which forms the overall the pulse of cities whistle control system, to be included：City induction issue subsystem, urban signal control management
Subsystem, city traffic information gathering subsystem, traffic information data link, signal control management information link, city signal
System-computed center, city signal system administration center；The regional city fluctuating signal control system includes：Minor road,
Arterial road, node detectors, node crossing, branch line crossing, city simplify road network；The main line the pulse of cities signal control system
System is by outlet detector, import detector, tactics detector, semaphore, strategic detector, crossing n, crossing 2, test the speed sensing
Device, crossing 1 form；The single-point the pulse of cities whistle control system includes：Tactics detector, semaphore, sensor data cable,
Single spot optimization crossing, outlet detector, entrance detector.
2. a kind of the pulse of cities traffic signal control system according to claim 1 and method is characterized in that：City point
Multidirectional region, each city major trunk roads and subsidiary road are realized that wagon flow is let pass by certain beat, are simulated heart based on the control of green ripple
Periodically pulsing.
3. a kind of the pulse of cities traffic signal control system according to claim 1 and method is characterized in that：City branch
Road or small crossing are respectively exchanged to the self-organizing for supplemented by self adaptive control, simulating capillary network.
4. a kind of the pulse of cities traffic signal control system according to claim 1 and method is characterized in that：If every
Dry measurement period, carries out forecasting traffic flow and scheme optimization assessment, and cardiac pulse frequency is adjusted after simulating human body stress reaction.
5. a kind of the pulse of cities traffic signal control system according to claim 1 and method is characterized in that：With node
Detector, strategic detector, tactics detector composition city traffic stream sensing network, simulate human body parasympathetic.
6. a kind of the pulse of cities traffic signal control system according to claim 1 and method is characterized in that：With signal
Machine, traffic lights and induction issue screen are used as executing agency, simulate Human decidual organ；City is formed to calculate center and administrative center
Area unifies optimal control center, simulates the left atrium ventricle of human heart.
7. a kind of the pulse of cities traffic signal control system according to claim 1 and method is characterized in that：Node road
It is the ratio of inlet flow rate q and saturation volume Qs if a mouthful saturation degree is represented with σ, saturation volume is derived from golden one's paternal grandfather's elder brother's formula, is that Britain hands over
The empirical equation that logical engineer's gold uncle has found, what is shown is the relation of road saturation volume Qs and road width W, expression formula
For：
Qs=196W2-979W+2964
σ= q/ Qs
As node crossing saturation degree σ ≈ 1 or respectively to importing strategy detector average speed level off to 0 when, can determine whether out the node
Crossing is in traffic congestion state；Road width is known parameters, and inlet flow rate can accurately be obtained by wagon detector, import
Average speed can also be obtained by strategic detector, therefore the criterion can be used as system optimization threshold value critical point；
Main feature of the present invention is based on the green ripple control of main line, and after node crossing congestion occurs, main target of optimization is that main line is each
Crossing common period T and design speed per hour V, what common period influenced is that green wave band is wide, and what design speed per hour influenced is the green ripple in each crossing
Phase difference；
Common period can be tried to achieve by following formula：T=Max(T1,T2......Tn)
What T1, T2, Tn were represented is the instant periodic quantity at each crossing in formula, and common period is the maximum in each crossing cycle, is asked
Each intersection annunciator performs green ripple scheme by this uniform period after going out the value；
Due to being green ripple control, can be analyzed per ripple wagon flow traveling situation by continuous traffic flow model, vehicle density, design speed per hour connect
Continuing can be micro-, and continuing to use Greenshields formula V- ρ curves can obtain：
V=Vf (1-ρ/ρjam)
The free speed per hour in the city that Vf is represented in formula, it is limit vehicle density generally to take 80km/h, ρ jam, and ρ is real-time traffic flow
Density；Again because vehicle density is a certain vehicle number being instantaneously distributed in unit length, this parameter is difficult to survey by technological means
, but ρ/ρ jam ratios can use saturation degree σ=q/ Qs approximate substitutions, and real-time traffic can be measured by wagon detector, be satisfied
It can be obtained with flow by road width, so the design speed per hour of the green ripple of main line can be calculated；
There is design speed per hour V, further according on some wagon flow direct of travel on main line, first crossing stop line to second road
The space length L of mouth stop line is it is known that then the phase difference δ at the two crossings can be obtained with following formula：
δ=V×L
And so on, out of phase when each intersection annunciator on main line performs gradual green ripple scheme can be obtained successively
Difference, the control program that each crossing phase difference of main line and common period form is issued by administrative center, so that it may realizes green ripple control；
After green ripple scheme performs on main line, existing green ripple scheme can be assessed by the parameter that strategic detector obtains, its
The values for actual speed that middle section strategy detector measures can be used to correct design speed per hour, and speed, flow value, road occupying rate can be used for
History data store, statistics and analysis, and forecasting traffic flow is carried out based on historical data, basic forecast is calculated based on Kalman filtering
Method, such as following formula:
x（t）=Ax(t-1)+Bu(t)+w(t)
X in formula（t）Represent the volume of traffic to be predicted of current time, comprising speed, flow, road occupying rate etc., x (t-1) represents previous
The known volume of traffic at a measurement period moment, A are volume of traffic state-transition matrixes, and B is traffic volume control matrix, and u (t) is current
Controlling traffic volume, w (t) are the current system control hot-tempered sound of process；
Actual vehicle detects discrete equation such as following formula：
z(t)=Ix(t)+v(t)
Z in formula（t）Represent the volume of traffic of currently practical detection, I represents wagon detector observing matrix, and x (t) is prediction traffic
Amount, v (t) represent current measurement error；
By the continuous recursive calculation of the two equations, so that it may the volume of traffic of some city test point of a certain moment is predicted, according to pre-
The volume of traffic, historical data and the actually detected value measured, constantly carry out system iteration optimization, then system in a measurement period
Control tend to it is optimal, it is this prediction and optimization process be also to be completed in calculating center of the present invention；
For single-point intersection, no matter cross or T-shaped or more complicated crossing, its optimize the basis calculated be based on it is each to
, often it is made of to tactics detector import detector, outlet detector, within a signal period, the queuing in the one before cycle
Length is equal to the difference that import equivalent subtracts outlet equivalent, often as follows to queue length discrete equation:
P(k)= P（k-1）+[q(k)-Qsλ]C
P (k) is the queue length of this cycle in formula, and p (k-1) is the queue length of upper cycle, and q (k) is vehicle arriving rate, and Qs is
This to crossing saturation volume, λ for this to split, C is cycle time, because each signal period queue length can pass through discrepancy
Mouth detector obtains, and vehicle arriving rate i.e. inlet flow rate can measure, and split is respectively obtained according to crossing to weight ratio, the cycle
Time can select optimal value in the discritized array of a semaphore memory storage, and the target of single spot optimization is exactly current period time
It is interior, respectively tend to be minimum to queue length.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211383A (en) * | 2019-06-12 | 2019-09-06 | 国鸿科技股份有限公司 | Intelligent transportation data processing system |
| CN111183464A (en) * | 2019-06-13 | 2020-05-19 | 北京嘀嘀无限科技发展有限公司 | Estimating saturated flow at a signal intersection based on vehicle trajectory data |
| CN111951571A (en) * | 2020-07-06 | 2020-11-17 | 江苏大学 | System and method for dredging congested vehicles on road section under traffic accident |
| CN112562322A (en) * | 2020-11-25 | 2021-03-26 | 淮阴工学院 | Bus feedback area length design method |
| CN115620534A (en) * | 2022-11-18 | 2023-01-17 | 南京云创大数据科技股份有限公司 | Self-adaptive dynamic green wave band method using queue length as factor |
-
2018
- 2018-01-11 CN CN201810027206.1A patent/CN108010346A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211383A (en) * | 2019-06-12 | 2019-09-06 | 国鸿科技股份有限公司 | Intelligent transportation data processing system |
| CN111183464A (en) * | 2019-06-13 | 2020-05-19 | 北京嘀嘀无限科技发展有限公司 | Estimating saturated flow at a signal intersection based on vehicle trajectory data |
| CN111951571A (en) * | 2020-07-06 | 2020-11-17 | 江苏大学 | System and method for dredging congested vehicles on road section under traffic accident |
| CN111951571B (en) * | 2020-07-06 | 2022-05-17 | 江苏大学 | System and method for dredging congested vehicles on road section under traffic accident |
| CN112562322A (en) * | 2020-11-25 | 2021-03-26 | 淮阴工学院 | Bus feedback area length design method |
| CN112562322B (en) * | 2020-11-25 | 2021-12-28 | 淮阴工学院 | Bus feedback area length design method |
| CN115620534A (en) * | 2022-11-18 | 2023-01-17 | 南京云创大数据科技股份有限公司 | Self-adaptive dynamic green wave band method using queue length as factor |
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