CN108109403B - Adaptive traffic light control system and method based on traffic flow - Google Patents
Adaptive traffic light control system and method based on traffic flow Download PDFInfo
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- CN108109403B CN108109403B CN201711472788.6A CN201711472788A CN108109403B CN 108109403 B CN108109403 B CN 108109403B CN 201711472788 A CN201711472788 A CN 201711472788A CN 108109403 B CN108109403 B CN 108109403B
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- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Abstract
The invention provides a traffic flow-based self-adaptive traffic light control system, which comprises: waiting traffic sensor: the system is arranged at a lane exit of a traffic node, monitors and counts the number of vehicles waiting on lanes in each direction in real time, and provides data to a traffic server in real time; monitoring traffic flow sensor: the system is arranged in front of the entrance of each direction lane, monitors and counts the number of vehicles ready to enter each direction lane in real time, and provides data to a traffic server in real time; intelligent lane indicator lamp: the system is arranged at a lane exit of a traffic node, specifically executes a lane traffic light timing scheme fed back by a traffic server, and sets a corresponding lane indicator light; a traffic server: the intelligent traffic lane timing control system is coupled with the waiting traffic sensor and the monitoring traffic sensor, receives data sent by the waiting traffic sensor and the monitoring traffic sensor, calculates a traffic light timing scheme of each intersection indicator light based on the data, and sends the traffic light timing scheme of a traffic lane to a corresponding intelligent traffic lane indicator light for execution.
Description
Technical Field
The invention relates to the field of urban traffic management, in particular to a traffic flow-based adaptive traffic light control system and a scheduling method thereof.
Background
With the advance of urbanization and the dramatic increase of the number of vehicles, the contradiction between vehicles in cities and road surfaces is increasingly prominent. Especially, the congestion phenomenon is prominent in the peak period during the commuting or holiday days when a two-line large city and a city are connected with the main trunk entrance and exit of the highway.
In the past, simply widening the road surface is only a method for treating symptoms and not the root causes. On one hand, the method has higher cost and needs to invest a large amount of capital into the infrastructure; on the other hand, the method does not fully consider the influence of the time period on the traffic flow, and adjusts the traffic light timing scheme of each direction of the traffic node aiming at the change of the traffic flow. In fact, different traffic light timing schemes are respectively set for busy time and non-busy time, which plays a great role in improving traffic flow quality, and better utilizing the existing transport capacity so as to improve the safety and rapidity of traffic flow.
At present, with the development of monitoring technology, traffic flow data (such as the number of vehicles in waiting lanes in each direction and the types, speeds, accelerations and the like of vehicles in passing lanes) at traffic nodes can be acquired in real time, so that more means are provided for measuring traffic flow conditions in each direction at the current time point. How to utilize the real-time data to adjust the traffic flow at the traffic nodes to alleviate traffic congestion becomes a problem with practical needs.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a traffic flow-based adaptive traffic light control system and a scheduling method thereof.
In order to achieve the above object, the present invention adopts the following technical means.
Firstly, the invention provides a traffic flow-based adaptive traffic light control system, which is arranged at a lane of a traffic node and comprises the following modules: waiting traffic sensor: the system is arranged at a lane exit of a traffic node, monitors and counts the number of vehicles waiting on lanes in all directions and the number of vehicles passing through the lanes in unit time in real time, and provides data to a traffic server in real time; monitoring traffic flow sensor: the system is arranged in front of the entrance of each direction lane, monitors and counts the number of vehicles ready to enter each direction lane in real time, and provides data to a traffic server in real time; intelligent lane indicator lamp: the system is arranged at a lane exit of a traffic node, specifically executes a lane traffic light timing scheme fed back by a traffic server, and sets a corresponding lane indicator light; a traffic server: the intelligent traffic lane timing control system is coupled with the waiting traffic sensor, the monitoring traffic sensor and the traffic server adjacent to the traffic node to receive data sent by the waiting traffic sensor and the monitoring traffic sensor, calculates a traffic light timing scheme of each intersection indicator light based on the data, and sends the traffic light timing scheme of a traffic lane to a corresponding intelligent traffic lane indicator light for execution.
In one embodiment of the invention, the waiting traffic sensor and the monitoring traffic sensor are traffic cameras.
Secondly, based on the above embodiments of the present invention, the present invention provides a scheduling method, including the following steps: according to the number of lanes at a lane exit of a traffic node, creating a corresponding lane queue and initializing traffic light timing of each lane queue; receiving real-time sending data of a waiting traffic sensor and a monitoring traffic sensor, and updating the number of waiting vehicles on each lane; acquiring the number of waiting vehicles in each current lane, and if the number of waiting vehicles in the current lane is greater than a preset lane waiting threshold and the number of vehicles passing through the lane in unit time is greater than a lane circulation threshold, prolonging the passing time of the lanes in the same direction by the traffic server to reduce the traffic pressure in the direction; and the adjusted traffic light timing scheme is sent to the corresponding intelligent lane indicating lamp.
In the above embodiments of the present invention, the adjustment of the traffic light timing in the traffic node is performed with a fixed time period as the basic time unit of the adjustment.
In the above embodiment of the present invention, when the number of waiting vehicles on each lane is greater than the preset lane waiting threshold and the number of vehicles passing through each lane per unit time is less than the lane circulation threshold, the lane waiting threshold of each lane is increased and the lane circulation threshold is decreased.
Further, in the above embodiment of the present invention, when the number of waiting vehicles on each lane is less than the preset lane waiting threshold and the number of vehicles passing through each lane per unit time is greater than the lane circulation threshold, the lane waiting threshold of each lane is decreased and the lane circulation threshold is increased.
The invention has the beneficial effects that: by acquiring the traffic flow change conditions of the current traffic nodes in all directions in real time and modifying the traffic light timing scheme of the traffic nodes in a targeted manner, the traffic flow of the traffic nodes is adjusted in a targeted manner, and the effects of reducing the congestion degree of the traffic nodes in the peak period and bringing convenience to people to go out are obtained.
Drawings
FIG. 1 is a partial scene structure diagram of the adaptive traffic light control system based on traffic flow according to the present disclosure;
FIG. 2 is a flow chart of a scheduling method based on the adaptive traffic light control system based on traffic flow in FIG. 1;
FIG. 3 is a flow chart of a particular method of adjusting the red-green equal timing scheme of FIG. 2;
FIG. 4 is a diagram illustrating a specific adjustment process for traffic light timing according to an embodiment of the present invention;
fig. 5 is a flow chart illustrating a specific adjustment process of traffic light timing according to another embodiment of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.
In the present invention, a lane refers to a road divided according to a driving direction at each intersection of traffic nodes. Reference is made to the partial scene structure diagram shown in fig. 1. The driving directions of the areas monitored by the waiting traffic sensor and the monitoring traffic sensor shown in the drawing are divided into 4 lanes, which are a left-turn and turn-around lane, a left-turn lane, a first straight lane, and a second straight lane, respectively, from left to right. The traffic server is used for making a corresponding traffic light timing scheme aiming at the traffic flow on each lane at each intersection. In addition, since the duration of the yellow light in the traffic light is generally fixed, in order to simplify the following discussion, the timing scheme of the traffic light in the present invention only aims at the durations of the red light and the green light, and does not limit the duration of the yellow light at all. Furthermore, the traffic light timing scheme mentioned in the present invention should satisfy the following simple constraints: traffic light states in mutually perpendicular directions at the same traffic node should be mutually exclusive. Specifically, when a green light is on in the north-south direction in fig. 1, a red light should be on in the east-west direction opposite to the north-south direction, and vice versa.
Referring to the scene structure diagram shown in fig. 1, in an embodiment of the present disclosure, a traffic flow-based adaptive traffic light control system is disposed at a lane of a traffic node, and includes the following modules: waiting traffic sensor: the system is arranged at a lane exit of a traffic node, monitors and counts the number of vehicles waiting on lanes in all directions and the number of vehicles passing through the lanes in unit time in real time, and provides data to a traffic server in real time; monitoring traffic flow sensor: the system is arranged in front of the entrance of each direction lane, monitors and counts the number of vehicles ready to enter each direction lane in real time, and provides data to a traffic server in real time; intelligent lane indicator lamp: the system is arranged at a lane exit of a traffic node, specifically executes a lane traffic light timing scheme fed back by a traffic server, and sets a corresponding lane indicator light; a traffic server: the intelligent traffic lane timing control system is coupled with the waiting traffic sensor and the monitoring traffic sensor to receive data sent by the waiting traffic sensor and the monitoring traffic sensor, calculates a traffic light timing scheme of each intersection indicator light based on the data, and sends the traffic light timing scheme of a traffic lane to a corresponding intelligent traffic lane indicator light for execution. The intelligent lane indicating lamp can be set to display the current allowed passing condition and the passing duration.
Specifically, in one embodiment of the present invention, the waiting traffic sensor and the monitoring traffic sensor are traffic cameras. The waiting traffic sensor obtains a real-time monitoring image, and can obtain the vehicles which stop waiting on the current lane by means of image recognition and the like, so that the number of the vehicles which stop waiting on the lane is counted. In a preferred embodiment, the respective vehicle types (such as cars, medium-sized vehicles or large-sized vehicles) of the stopped vehicles on the current lane can be further identified, so that a more sufficient basis is provided for the real-time update of the subsequent traffic light timing scheme. Similarly, a traffic monitoring sensor may be provided at the entrance of the lanes in each direction. The real-time monitoring image obtained by the monitoring traffic flow sensor can judge whether the vehicle and the left and right steering lamps thereof behind the current lane are turned on or not through an image recognition technology, so that the lane in which the vehicle is going to enter is determined. And the traffic flow of the current traffic node in each direction can be obtained based on the real-time monitoring data returned by the waiting traffic flow sensor and the monitoring traffic flow sensor.
Referring to the method flowchart shown in fig. 2, based on the above system embodiment of the present invention, the present invention provides a scheduling method, including the following steps: according to the number of lanes at a lane exit of a traffic node, creating a corresponding lane queue and initializing traffic light timing of each lane queue; receiving the real-time transmission data (the number of waiting vehicles and the number of vehicles passing through the lane in unit time) of the waiting traffic sensor and the monitoring traffic sensor, and updating the number of waiting vehicles on each lane; acquiring the number of waiting vehicles in each current lane, and if the number of waiting vehicles in the current lane is greater than a preset lane waiting threshold and the number of vehicles passing through the lane in unit time is greater than a lane circulation threshold, prolonging the passing time of the lanes in the same direction by the traffic server to reduce the traffic pressure in the direction; and the adjusted traffic light timing scheme is sent to the corresponding intelligent lane indicating lamp. The lane wait threshold and the lane circulation threshold may be set at initialization. For example, referring to the specific method flow diagram of adjusting a timing scheme such as red, green, etc. shown in fig. 3, the lane wait threshold may be initialized to 10. At the moment, when the number of waiting vehicles in the lane is less than 10, the traffic light timing scheme on the lane is kept unchanged, and the intelligent lane indicating lamps set the traffic lights according to the existing period. When the number of waiting vehicles in the lane is greater than or equal to 10, the traffic server will detect the number of vehicles passing through the lane per unit time when the lane is at a green light. If the number of vehicles passing through the lane in unit time is less than a circulation threshold (for example, 15, namely the number of vehicles passing through the lane during the green light of the direction is more than 15), the traffic ahead of the lane is indicated to be smooth, the green light time of the lane is prolonged, the traffic flow passing through the traffic node can be obviously improved, and the green light time of the direction in a cycle period of alternating traffic lights is increased; otherwise, it indicates that a jam occurs in front of the direction, and the time for lifting the green light in the direction cannot obviously lift the traffic flow passing through the direction, so that the existing traffic light timing scheme in the direction should be maintained.
Further, the distribution scheme of the traffic lights is mainly the weight ratio of the red lights to the green lights in a cycle period of alternating traffic lights. It is not necessary to precisely assign the intelligent lane indicating lamp to every second in consideration of the practical meaning and the possibility of implementation. A rough change in the duration of the traffic light (e.g. 3 seconds) already meets the actual need. For the above reasons, adjusting traffic light timing in a traffic node is a fixed period of time as the basic unit of time for adjustment (e.g., the time for each extension of a green light is 3 seconds), thereby simplifying modification of the traffic light timing scheme.
And furthermore, the stable change of the traffic flow of the adjacent traffic nodes is kept, the traffic flow at the next traffic node is suddenly blocked due to the fact that the traffic flow at the next traffic node is greatly increased by greatly prolonging the passing time of vehicles in a certain direction by the previous traffic node, and each time when the traffic lights in the traffic nodes are matched, the traffic flow is regulated at a fixed time period. For example, in the above example, referring to the specific adjustment process flow chart of the traffic light timing shown in fig. 4, when the timing of the red light and the green light needs to be extended by 6 seconds in a certain direction, the traffic light timing is not extended by 6 seconds at a time, but in the following cycle of 3 state changes of the intelligent lane indicator, the traffic flow is extended by 3 seconds and 6 seconds in sequence compared with the current green light time, so that the traffic flow can be changed smoothly.
In an embodiment of the present invention, in order to ensure that each lane has a relative average transit time under a normal condition and avoid that the transit time of a vehicle in a certain direction is seriously shortened due to an excessive adjustment during traffic light timing, referring to a specific adjustment process flow chart during traffic light timing shown in fig. 5, before sending an adjusted traffic light timing scheme to a corresponding intelligent lane indicator each time, it is required to detect whether the adjusted timing scheme has a preset upper limit value and a preset lower limit value during traffic light timing in a traffic node. In an extreme case, such as when a traffic accident occurs on the current lane, the length of the green time in the direction may be zero, which means that the direction is prohibited from passing, and other vehicles are prevented from entering the lane by mistake.
When entering peak periods from off-peak periods, the traffic flow in all directions of the traffic node increases significantly compared to off-peak periods. At this time, the lane waiting threshold and the lane circulation threshold for judging whether to prolong the green light time in the direction need to be correspondingly adjusted according to the current actual traffic flow, so that the traffic flow is larger, the road condition is more ideal (namely the direction can pass through more traffic in unit time), and the green light on the lane can be allocated with more time; conversely, a smaller number of green lights on a lane with a greater traffic volume and less road conditions (i.e., the direction can pass a smaller number of vehicles per unit time) will reduce the time appropriately. In one embodiment of the present invention, when the number of waiting vehicles on each lane is greater than a preset lane waiting threshold and the number of vehicles passing through each lane per unit time is less than a lane circulation threshold, the lane waiting threshold of each lane is increased (e.g., adjusted to 1.2 times the current value) and the lane circulation threshold is decreased (e.g., adjusted to 80% of the current value).
Further, when going from peak to off-peak periods, traffic flow in all directions of the traffic node will drop significantly. At this time, the lane waiting threshold and the lane circulation threshold for determining whether to extend the green time in the direction also need to be gradually restored to the original settings according to the current actual traffic flow. In one embodiment of the present invention, when the number of waiting vehicles on each lane is greater than a preset lane waiting threshold and the number of vehicles passing through each lane per unit time is less than a lane circulation threshold, the lane waiting threshold of each lane is lowered (e.g., adjusted to 80% of the current value) and the lane circulation threshold is raised (e.g., adjusted to 1.2 times the current value).
While the present invention has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed as effectively covering the intended scope of the invention by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalent modifications thereto.
Claims (5)
1. A traffic flow-based adaptive traffic light control system is arranged at a lane of a traffic node and is characterized by comprising the following modules:
waiting traffic sensor: the system is arranged at a lane exit of a traffic node, monitors and counts the number of vehicles waiting on lanes in all directions and the number of vehicles passing through the lanes in unit time in real time, and provides data to a traffic server in real time;
monitoring traffic flow sensor: the system is arranged in front of the entrance of each direction lane, monitors and counts the number of vehicles ready to enter each direction lane in real time, and provides data to a traffic server in real time;
intelligent lane indicator lamp: the system is arranged at a lane exit of a traffic node, specifically executes a lane traffic light timing scheme fed back by a traffic server, and sets a corresponding lane indicator light;
a traffic server: the intelligent traffic lane timing control system is coupled with the waiting traffic sensor and the monitoring traffic sensor to receive data sent by the waiting traffic sensor and the monitoring traffic sensor, calculates a traffic light timing scheme of each intersection indicator light based on the data, and sends the traffic light timing scheme of a traffic lane to a corresponding intelligent traffic lane indicator light for execution;
the scheduling method of the system comprises the following steps:
according to the number of lanes at a lane exit of a traffic node, creating a corresponding lane queue and initializing traffic light timing of each lane queue;
receiving real-time sending data of a waiting traffic sensor and a monitoring traffic sensor, and updating the number of waiting vehicles on each lane;
acquiring the number of waiting vehicles in each current lane, and if the number of waiting vehicles in the current lane is greater than a preset lane waiting threshold and the number of vehicles passing through the lane in unit time is greater than a lane circulation threshold, prolonging the passing time of the lanes in the same direction by the traffic server to reduce the traffic pressure in the direction;
the adjusted traffic light timing scheme is sent to the corresponding intelligent lane indicating lamp;
when the number of waiting vehicles on each lane is greater than a preset lane waiting threshold and the number of vehicles passing each lane in unit time is less than a lane circulation threshold, increasing the lane waiting threshold of each lane and reducing the lane circulation threshold;
when the number of waiting vehicles on each lane is smaller than a preset lane waiting threshold and the number of vehicles passing each lane in unit time is larger than a lane circulation threshold, reducing the lane waiting threshold of each lane and increasing the lane circulation threshold;
the traffic light timing in the traffic node is adjusted by taking a fixed time period as an adjusted basic time unit; each adjustment of traffic light timing in a traffic node is a fixed time period.
2. The system of claim 1, wherein the waiting traffic sensor and the monitoring traffic sensor are traffic cameras.
3. The system of claim 1, wherein the traffic light timing in the traffic node has a preset upper limit and a preset lower limit, such that the adjusted traffic light timing scheme is within the preset upper limit and the preset lower limit.
4. The system of claim 3, wherein the lower limit value of the traffic light timing is not less than zero.
5. A computer-readable storage medium, on which computer instructions are stored, characterized in that the instructions, when executed by a processor, carry out the steps of the scheduling method of the system according to any one of claims 1 to 3.
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| CN109166326A (en) * | 2018-10-22 | 2019-01-08 | 交通运输部公路科学研究所 | City intersection new control system and method without traffic lights |
| CN110136454B (en) * | 2019-06-17 | 2021-06-29 | 公安部交通管理科学研究所 | Urban traffic trunk line dynamic green wave signal control system and method based on real-time traffic flow data |
| CN110517511A (en) * | 2019-09-28 | 2019-11-29 | 武汉飞创交通工程有限公司 | A kind of traffic light control system |
| CN112349112A (en) * | 2020-10-30 | 2021-02-09 | 镇江高等职业技术学校 | Self-adaptive traffic light control method |
| CN113327431A (en) * | 2020-11-17 | 2021-08-31 | 广东汇通信息科技股份有限公司 | Intelligent traffic control method, device, computer equipment and storage medium |
| CN113442923B (en) * | 2021-07-18 | 2022-08-19 | 苏州清研精准汽车科技有限公司 | Automatic driving optimization method and system for vehicle perception and intelligent traffic data fusion |
| CN114202938A (en) * | 2021-11-18 | 2022-03-18 | 开研(宁波)信息科技有限公司 | Traffic light control system based on road vehicle number and control method thereof |
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