CN108039049B - Intersection traffic signal control method considering upstream intersection traffic signal control scheme and combining vehicle speed induction - Google Patents
Intersection traffic signal control method considering upstream intersection traffic signal control scheme and combining vehicle speed induction Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种交叉口交通信号控制方法，属于交通工程技术领域。The invention relates to a traffic signal control method at an intersection, and belongs to the technical field of traffic engineering.
背景技术Background technique
当车辆在路网内行驶时，经常会出现交叉口的当前交通信号相位与到达该交叉口的车流方向不同步的问题。该问题会迫使到达该交叉口的车辆停车以等待交通信号相位变为同步，进而导致交叉口处的车辆通行效率低下。When vehicles are traveling in the road network, the current traffic signal phase at the intersection is often out of sync with the direction of traffic arriving at the intersection. This problem forces vehicles arriving at the intersection to stop to wait for the traffic signal phases to become synchronized, resulting in inefficient vehicle traffic at the intersection.
目前，学者们针对上述问题提出了一些解决办法，然而这些解决办法主要存在以下问题：At present, scholars have proposed some solutions to the above problems, but these solutions mainly have the following problems:
一、根据待车辆通过的交叉口的定时信号配时方案对车辆进行车速诱导，难以保证诱导车速落在合理的速度区间内，过高或过低的诱导车速很难得到交通参与者的认可，进而导致这些解决办法的推广难度大。1. The vehicle speed is induced according to the timing signal timing scheme of the intersection to be passed by the vehicle. It is difficult to ensure that the induced vehicle speed falls within a reasonable speed range. It is difficult to obtain the approval of the traffic participants if the induced vehicle speed is too high or too low. This makes it difficult to popularize these solutions.
二、假定车速诱导处的车流为随机到达或者均匀到达，然而，实际上，因受上游交叉口的交通信号的控制，车速诱导处的车流为周期性到达。因此，这种假定与实际情况不相符，进而导致这些解决办法的实际效果差。2. It is assumed that the traffic flow at the speed-inducing place arrives randomly or evenly. However, in fact, due to the control of the traffic signal at the upstream intersection, the traffic at the speed-inducing place arrives periodically. Therefore, this assumption does not correspond to the actual situation, which in turn makes these solutions less effective in practice.
发明内容SUMMARY OF THE INVENTION
本发明为解决现有交叉口的当前交通信号相位与到达该交叉口的车流方向不同步的问题的解决办法存在的实际效果差和推广难度大的问题，提出了一种考虑上游交叉口交通信号控制方案并结合车速诱导的交叉口交通信号控制方法。In order to solve the problem that the current traffic signal phase of the existing intersection is not synchronized with the direction of the traffic flow arriving at the intersection, the actual effect is poor and the promotion is difficult. A control scheme combined with a speed-induced intersection traffic signal control method.
本发明所述的考虑上游交叉口交通信号控制方案并结合车速诱导的交叉口交通信号控制方法是待控制交叉口的原始交通信号控制方案的优化方法，在待控制交叉口与其各个上游交叉口出口之间的道路的外侧均设置有可变车速诱导标志；The traffic signal control method at an intersection that considers the upstream intersection traffic signal control scheme and combines vehicle speed induction according to the present invention is an optimization method for the original traffic signal control scheme of the intersection to be controlled. The outer side of the road in between are provided with variable speed guidance signs;
可变车速诱导标志位于其对应的上游交叉口出口的右前方；The variable speed induction sign is located in front of the right front of its corresponding upstream intersection exit;
可变车速诱导标志与待控制交叉口之间的道路为可变车速区域，可变车速诱导标志用于规定可变车速区域内的车速范围，在可接受时间区间内进入可变车速区域的车辆能够不停车地通过待控制交叉口；The road between the variable speed guidance sign and the intersection to be controlled is the variable speed area. The variable speed guidance sign is used to specify the speed range within the variable speed area, and vehicles entering the variable speed area within an acceptable time interval Ability to pass through the intersection to be controlled without stopping;
所述交叉口交通信号控制方法包括：The intersection traffic signal control method includes:
步骤一、确定待控制交叉口的各个相位对应的可接受时间区间以及上游车辆进入可变车速区域的周期性时间区间；Step 1: Determine the acceptable time interval corresponding to each phase of the intersection to be controlled and the periodic time interval for the upstream vehicle to enter the variable speed area;
步骤二、对所述原始交通信号控制方案进行优化，使待控制交叉口的各个相位对应的可接受时间区间与周期性时间区间的重合区域之和最大。Step 2: Optimizing the original traffic signal control scheme so as to maximize the sum of the overlapping area between the acceptable time interval and the periodic time interval corresponding to each phase of the intersection to be controlled.
作为优选的是，可变车速诱导标志设置于距离对应上游交叉口出口L米的位置。Preferably, the variable vehicle speed inducing sign is set at a position L meters away from the exit corresponding to the upstream intersection.
作为优选的是，L＝30。Preferably, L=30.
作为优选的是，步骤一确定待控制交叉口的一个相位对应的可接受时间区间的方法包括：Preferably, the method for determining an acceptable time interval corresponding to a phase of the intersection to be controlled in step 1 includes:
步骤一一、确定所述相位的开启时刻t和绿灯时长T；Step 11: Determine the turn-on time t of the phase and the green light duration T;
步骤一二、所述相位对应的两个可变车速诱导标志分别为第一可变车速诱导标志和第二可变车速诱导标志，确定第一可变车速诱导标志与待控制交叉口的停止线之间的道路的长度L1，确定第二可变车速诱导标志与待控制交叉口的停止线之间的道路的长度L2；Steps 1 and 2: The two variable speed inducing signs corresponding to the phases are the first variable speed inducing sign and the second variable speed inducing sign respectively, and the first variable speed inducing sign and the stop line of the intersection to be controlled are determined. the length L 1 of the road between, determining the length L 2 of the road between the second variable vehicle speed inducing sign and the stop line of the intersection to be controlled;
步骤一三、确定所述相位对应的两个可接受时间区间：Steps 1 and 3: Determine two acceptable time intervals corresponding to the phases:
第一可接受时间区间为
第二可接受时间区间为
Vmin为可变车速区域内所述相位下的最小车速，Vmax为可变车速区域内所述相位下的最大车速。V min is the minimum vehicle speed in the phase in the variable vehicle speed region, and V max is the maximum vehicle speed in the phase in the variable vehicle speed region.
作为优选的是，所述原始交通信号控制方案的确定方法为：根据待控制交叉口的各个方向的历史交通量，并采用定时信号配时方法确定待控制交叉口的原始交通信号控制方案，原始交通信号控制方案包括交通信号周期时长c和各个相位的相序。Preferably, the method for determining the original traffic signal control scheme is: according to the historical traffic volume in each direction of the intersection to be controlled, and using a timing signal timing method to determine the original traffic signal control scheme of the intersection to be controlled, the original traffic signal control scheme of the intersection to be controlled is determined. The traffic signal control scheme includes the traffic signal cycle duration c and the phase sequence of each phase.
作为优选的是，步骤二对所述原始交通信号控制方案进行优化的方式为：Preferably, the method for optimizing the original traffic signal control scheme in step 2 is:
调整交通信号周期的开启时刻和各个相位的相序。Adjust the turn-on time of the traffic signal cycle and the phase sequence of each phase.
作为优选的是，交通信号周期的开启时刻的调整范围为[t0-0.2c,t0+0.2c]，t0为原始交通信号控制方案的交通信号周期的开启时刻。Preferably, the adjustment range of the start time of the traffic signal cycle is [t 0 -0.2c, t 0 +0.2c], and t 0 is the start time of the traffic signal cycle of the original traffic signal control scheme.
作为优选的是，可接受时间区间和所述周期性时间区间的重合区域之和最大情形下的交通信号控制方案为最优交通信号控制方案；Preferably, the traffic signal control scheme in the case where the sum of the overlapping area of the acceptable time interval and the periodic time interval is the largest is the optimal traffic signal control scheme;
在确定最优交通信号控制方案后，计算获得最优交通信号控制方案的交通信号周期的开启时刻与原始交通信号控制方案的交通信号周期的开启时刻的时间差；After determining the optimal traffic signal control scheme, calculate the time difference between the start time of the traffic signal period obtained by the optimal traffic signal control scheme and the start time of the traffic signal period of the original traffic signal control scheme;
并将所述时间差按照下游交叉口的各个相位绿灯时间的比例分配到该各个相位的绿灯时间中。The time difference is allocated to the green light time of each phase according to the proportion of the green light time of each phase at the downstream intersection.
本发明所述的考虑上游交叉口交通信号控制方案并结合车速诱导的交叉口交通信号控制方法，在合理的诱导车速约束下，通过优化下游交叉口的定时信号配时方案，使下游交叉口的各个相位对应的可接受时间区间和周期性时间区间的重合区域之和最大。在上游交通量不变的情况下，所述交叉口交通信号控制方法能够使更多的上游车辆在可接受时间区间内进入可变车速区域，进而不停车地通过下游交叉口，以提高下游交叉口的车辆通行效率。The present invention considers the traffic signal control scheme at the upstream intersection and combines the traffic signal control method at the intersection with the vehicle speed induction, under the reasonable restraint of the induced vehicle speed, by optimizing the timing signal timing scheme of the downstream intersection, so that the traffic signal of the downstream intersection can be controlled. The sum of the overlapping area of the acceptable time interval and the periodic time interval corresponding to each phase is the largest. Under the condition that the upstream traffic volume is unchanged, the traffic signal control method at the intersection can make more upstream vehicles enter the variable speed area within an acceptable time interval, and then pass through the downstream intersection without stopping, so as to improve the downstream intersection. vehicular traffic efficiency at the mouth.
附图说明Description of drawings
在下文中将基于实施例并参考附图来对本发明所述的考虑上游交叉口交通信号控制方案并结合车速诱导的交叉口交通信号控制方法进行更详细的描述，其中：In the following, a more detailed description of the method for controlling the traffic signal at the intersection considering the upstream intersection traffic signal control scheme combined with the vehicle speed induction according to the present invention will be made based on the embodiments and with reference to the accompanying drawings, wherein:
图1为实施例提及的可变车速诱导标志的布置示意图；FIG. 1 is a schematic diagram of the arrangement of the variable vehicle speed induction signs mentioned in the embodiment;
图2为实施例提及的南北直行相位的可接受时间区间与周期性时间区间的重合区域的计算示意图。FIG. 2 is a schematic diagram of calculating the overlapping area of the acceptable time interval and the periodic time interval of the north-south straight phase mentioned in the embodiment.
具体实施方式Detailed ways
下面将结合附图对本发明所述的考虑上游交叉口交通信号控制方案并结合车速诱导的交叉口交通信号控制方法进一步说明。In the following, the method for controlling the traffic signal at the intersection in consideration of the upstream intersection traffic signal control scheme according to the present invention and combined with the vehicle speed induction will be further described with reference to the accompanying drawings.
实施例：下面结合图1和图2详细地说明本实施例。Embodiment: The present embodiment will be described in detail below with reference to FIG. 1 and FIG. 2 .
本实施例所述的考虑上游交叉口交通信号控制方案并结合车速诱导的交叉口交通信号控制方法是待控制交叉口的原始交通信号控制方案的优化方法，在待控制交叉口与其各个上游交叉口出口之间的道路的外侧、距离对应上游交叉口出口L米的位置均设置有可变车速诱导标志；The traffic signal control method for an intersection that considers the traffic signal control scheme at the upstream intersection and combines vehicle speed induction described in this embodiment is an optimization method for the original traffic signal control scheme of the intersection to be controlled. Variable speed guidance signs are set on the outside of the road between the exits and at positions L meters away from the exit corresponding to the upstream intersection;
可变车速诱导标志位于其对应的上游交叉口出口的右前方；The variable speed induction sign is located in front of the right front of its corresponding upstream intersection exit;
可变车速诱导标志与待控制交叉口之间的道路为可变车速区域，可变车速诱导标志用于规定可变车速区域内的车速范围，在可接受时间区间内进入可变车速区域的车辆能够不停车地通过待控制交叉口；The road between the variable speed guidance sign and the intersection to be controlled is the variable speed area. The variable speed guidance sign is used to specify the speed range within the variable speed area, and vehicles entering the variable speed area within an acceptable time interval Ability to pass through the intersection to be controlled without stopping;
所述交叉口交通信号控制方法包括：The intersection traffic signal control method includes:
步骤一、确定待控制交叉口的各个相位对应的可接受时间区间以及上游车辆进入可变车速区域的周期性时间区间；Step 1: Determine the acceptable time interval corresponding to each phase of the intersection to be controlled and the periodic time interval for the upstream vehicle to enter the variable speed area;
步骤二、对所述原始交通信号控制方案进行优化，使待控制交叉口的各个相位对应的可接受时间区间与周期性时间区间的重合区域之和最大。Step 2: Optimizing the original traffic signal control scheme so as to maximize the sum of the overlapping area between the acceptable time interval and the periodic time interval corresponding to each phase of the intersection to be controlled.
本实施例所述的交叉口交通信号控制方法的工作原理是这样的：The working principle of the intersection traffic signal control method described in this embodiment is as follows:
通过设置可变车速诱导标志对上游车辆进行合理的车速约束。对于下游交叉口，也就是待控制交叉口，当其交通信号控制方案固定不变时，只有在一定的时间范围内到达可变车速诱导标志处的上游车辆才能够不停车地通过下游交叉口，将这个时间范围定义为可接受时间区间。另一方面，因上游交叉口采用周期性交通信号控制，上游车辆通过可变车速诱导标志处的时间为周期性时间区间。只有在可接受时间区间与周期性时间区间的重合时间区间内上游车辆才能在合理车速约束下不停车地通过下游交叉口。进一步地，为了使更多的上游车辆处于重合时间区间内，本实施例通过优化下游交叉口的交通信号控制方案的方式使重合时间区间，也就是可接受时间区间和周期性时间区间的重合区域达到最大，进而提升下游交叉口的车辆通行效率。Reasonable speed constraints are imposed on upstream vehicles by setting variable speed induction flags. For the downstream intersection, that is, the intersection to be controlled, when the traffic signal control scheme is fixed, only the upstream vehicle that reaches the variable speed induction sign within a certain time range can pass through the downstream intersection without stopping. Define this time range as an acceptable time interval. On the other hand, since the upstream intersection adopts periodic traffic signal control, the time when the upstream vehicle passes the variable speed induction sign is a periodic time interval. Only in the overlapping time interval of the acceptable time interval and the periodic time interval, the upstream vehicle can pass through the downstream intersection without stopping under reasonable speed constraints. Further, in order to make more upstream vehicles in the overlapping time interval, this embodiment makes the overlapping time interval, that is, the overlapping area between the acceptable time interval and the periodic time interval, by optimizing the traffic signal control scheme of the downstream intersection. to the maximum, thereby improving the efficiency of vehicle traffic at the downstream intersection.
本实施例以十字交叉口南北方向直行相位为例，详细说明可接受时间区间与周期性时间区间的重合区域的确定方法：In this embodiment, the straight phase in the north-south direction of the intersection is taken as an example, and the method for determining the overlapping area of the acceptable time interval and the periodic time interval is described in detail:
设南北方向直行的绿灯时长为T，南北两个方向的可变车速诱导标志与十字交叉口停止线的之间的道路的长度分别为Ls和Ln，当南北方向直行相位的开启时刻为t时，则南北两个方向可变车速诱导标志处的可接受时间区间分别为
设南北方向可变车速诱导标志处对应的周期性时间区间分别为[t1,t2]和[t3,t4]，后续车辆以cs和cn周期性区间到达，其中，cs为南进口的上游交叉口信号周期时长，cn为北进口的上游交叉口信号周期时长。南北直行相位两个方向的可接受时间区间与周期性时间区间确定之后，便可计算二者的重合区域。Assume that the periodic time intervals corresponding to the variable vehicle speed induction signs in the north-south direction are [t 1 , t 2 ] and [t 3 , t 4 ] respectively, and the subsequent vehicles arrive in the periodic intervals of c s and cn n , where c s is the signal cycle length of the upstream intersection of the south entrance, and cn is the signal cycle length of the upstream intersection of the north entrance. After the acceptable time interval and the periodic time interval in the two directions of the north-south straight phase are determined, the overlapping area of the two can be calculated.
设十字交叉口共设置有四个相位，分别为东西左转、东西直行、南北左转和南北直行，绿灯时长依次为27s、32s、22s和27s。南北两个方向可变车速诱导标志与十字交叉口的停止线之间的道路的长度分别为400m和380m，东西两个方向可变车速诱导标志与十字交叉口的停止线之间的道路的长度分别为390m和370m。假设路段限速值为60km/h，则最小诱导车速和最大诱导车速分别为30km/h和60km/h。Assuming that there are four phases at the intersection, turn left from east to west, go straight from east to west, turn left from north to south, and go straight from north to south. The green light duration is 27s, 32s, 22s, and 27s. The length of the road between the variable speed guidance sign in the north-south direction and the stop line at the intersection is 400m and 380m, respectively, and the length of the road between the variable speed guidance sign in the east-west direction and the stop line at the intersection 390m and 370m respectively. Assuming that the speed limit value of the road section is 60km/h, the minimum and maximum induced vehicle speeds are 30km/h and 60km/h, respectively.
当南北直行相位开启时刻为90s时，则南北方向可变车速诱导标志处的可接受时间区间分别为[42,93]和[44,94]。设南北方向可变车速诱导标志处的周期性时间区间分别为[0,55]和[10,60]，且后续车辆以110s和100s周期性区间到达，则南北两个方向直行相位的可接受时间区间与周期性时间区间的重合区域分别为13s和16s，二者之和为29s。设东西方向可变车速诱导标志处的周期性时间区间分别为[10,65]和[-5,45]，且后续车辆以105s和95s周期性区间到达，则东西两个方向直行相位的可接受时间区间与周期性时间区间的重合区域分别为29s和45s，二者之和为74s。同理，东西左转相位和南北左转相位的可接受时间区间与周期性时间区间的重合区域之和分别为17s和79s。各个相位对应的可接受时间区间与周期性时间区间的重合区域之和为199s。When the opening time of the north-south straight phase is 90s, the acceptable time intervals at the variable speed induction signs in the north-south direction are [42, 93] and [44, 94], respectively. Assuming that the periodic time intervals at the variable speed induction signs in the north-south direction are [0, 55] and [10, 60] respectively, and the subsequent vehicles arrive in 110s and 100s periodic intervals, then the acceptable straight phase in the north-south direction is acceptable. The overlapping areas of the time interval and the periodic time interval are 13s and 16s respectively, and the sum of the two is 29s. Assuming that the periodic time intervals at the variable speed induction signs in the east-west direction are [10, 65] and [-5, 45] respectively, and the subsequent vehicles arrive at the periodic intervals of 105s and 95s, then the straight phase in the east-west direction can be The overlapping areas of the acceptance time interval and the periodic time interval are 29s and 45s, respectively, and the sum of the two is 74s. In the same way, the sum of the overlapping areas of the acceptable time interval of the east-west left turn phase and the north-south left turn phase and the periodic time interval is 17s and 79s, respectively. The sum of the overlapping area of the acceptable time interval corresponding to each phase and the periodic time interval is 199s.
接下来对下游交叉口的交通信号控制方案进行优化：优化前的交通信号周期的开启时刻为t0，交通信号周期开启时刻的优化范围为[t0-0.2c,t0+0.2c]。交通信号控制方案的优化过程如下：依次改变相位的放行次序，对每一种相序方案在[t0-0.2c,t0+0.2c]范围内调整交通信号周期的开启时刻，计算得到各个相位的可接受时间区间与周期性时间区间的重合区域之和，将重合区域之和最大的相位方案和交通信号周期开启时刻作为最终的优化结果。若重合区域之和最大的方案有多种，则选取调整时间最小且相序变化最小的方案作为优选方案。Next, optimize the traffic signal control scheme of the downstream intersection: the opening time of the traffic signal cycle before optimization is t 0 , and the optimization range of the opening time of the traffic signal cycle is [t 0 -0.2c, t 0 +0.2c]. The optimization process of the traffic signal control scheme is as follows: change the release order of the phases in turn, adjust the opening time of the traffic signal cycle within the range of [t 0 -0.2c, t 0 +0.2c] for each phase sequence scheme, and calculate each The sum of the overlapping area between the acceptable time interval of the phase and the periodic time interval is used as the final optimization result. If there are multiple schemes with the largest sum of overlapping areas, the scheme with the smallest adjustment time and the smallest phase sequence change is selected as the preferred scheme.
接着以上述十字交叉口为例：十字交叉口有四个相位，八种相序方案。未优化前，假设原拟定的交通信号周期开启时刻为0s，交通信号周期时长为120s。现对每一种相序方案从-24s至24s调整信号周期的开启时刻，从中选取使可接受时间区间与周期性时间区间的重合区域之和最大的相位方案和交通信号周期开启时刻作为最终的优化结果。Next, take the above intersection as an example: the intersection has four phases and eight phase sequence schemes. Before optimization, it is assumed that the originally planned turn-on time of the traffic signal cycle is 0s, and the duration of the traffic signal cycle is 120s. Now, for each phase sequence scheme, adjust the turn-on time of the signal period from -24s to 24s, and select the phase scheme and the turn-on time of the traffic signal cycle that maximize the sum of the overlapping area between the acceptable time interval and the periodic time interval as the final Optimization Results.
本实施例选取的最优交通信号控制方案如下：交通信号周期开启时刻调整为-24s，相序为东西左转、东西直行、南北直行和南北左转。东西直行相位的可接受时间区间与周期性时间区间的重合区域之和为27s，东西左转相位的可接受时间区间与周期性时间区间的重合区域之和为49s，南北直行相位的可接受时间区间与周期性时间区间的重合区域之和为79s，南北左转相位的可接受时间区间与周期性时间区间的重合区域之和为67s。优化后各相位的可接受时间区间与周期性时间区间的重合区域之和为222s，优于原方案的199s。The optimal traffic signal control scheme selected in this embodiment is as follows: the traffic signal cycle start time is adjusted to -24s, and the phase sequence is east-west left turn, east-west straight, north-south straight, and north-south left turn. The sum of the overlapping area of the acceptable time interval of the east-west straight phase and the periodic time interval is 27s, the sum of the overlapping area of the acceptable time interval of the east-west left turn phase and the periodic time interval is 49s, and the acceptable time of the north-south straight phase is The sum of the overlapping area of the interval and the periodic time interval is 79s, and the sum of the overlapping area of the acceptable time interval of the north-south left turn phase and the periodic time interval is 67s. After optimization, the sum of the overlapping area between the acceptable time interval of each phase and the periodic time interval is 222s, which is better than the 199s of the original scheme.
由于交通信号周期开启时刻的变动，会导致十字交叉口的下游交叉口的当前交通信号周期时长的改变，为此，需要将延长或缩短的时间按照下游交叉口的各个相位绿灯时间的比例分配到该各个相位的绿灯时间中。Due to the change of the opening time of the traffic signal cycle, the duration of the current traffic signal cycle at the downstream intersection of the intersection will change. Therefore, the extended or shortened time needs to be allocated according to the proportion of the green light time of each phase of the downstream intersection to the green time of each phase.
交通信号周期开启时刻调整为-24s，故下游交叉口的当前交通信号周期的各个相位的绿灯时间分别减少6s、7s、5s和6s。The opening time of the traffic signal cycle is adjusted to -24s, so the green light time of each phase of the current traffic signal cycle at the downstream intersection is reduced by 6s, 7s, 5s and 6s respectively.
虽然在本文中参照了特定的实施方式来描述本发明，但是应该理解的是，这些实施例仅是本发明的原理和应用的示例。因此应该理解的是，可以对示例性的实施例进行许多修改，并且可以设计出其他的布置，只要不偏离所附权利要求所限定的本发明的精神和范围。应该理解的是，可以通过不同于原始权利要求所描述的方式来结合不同的从属权利要求和本文中所述的特征。还可以理解的是，结合单独实施例所描述的特征可以使用在其他所述实施例中。Although the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and other arrangements can be devised without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the features described in the various dependent claims and herein may be combined in different ways than are described in the original claims. It will also be appreciated that features described in connection with a single embodiment may be used in other described embodiments.
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