CN108269400B - Main trunk signal control intersection delay estimation method and device - Google Patents
Main trunk signal control intersection delay estimation method and device Download PDFInfo
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Abstract
The invention discloses a trunk signal control intersection delay estimation method and a trunk signal control intersection delay estimation device, wherein the method comprises the following steps: receiving and storing the bayonet data uploaded by each bayonet device; grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection; the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period; and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light. The intersection vehicle delay control method solves the problem that vehicle delay in all directions of the intersection is obtained by using the existing bayonet equipment, and is simple to operate and high in accuracy.
Description
Technical Field
The invention belongs to the technical field of urban road traffic, relates to a trunk road signal control intersection delay estimation method and device, and particularly relates to a trunk road signal control intersection delay estimation method and device based on checkpoint data.
Background
The intersection delay is an important index for evaluating the intersection blocking degree and the service level, is commonly used for evaluating the reasonability of an intersection design and signal timing scheme, and has important application in single-point intersection signal timing and trunk line coordination control optimization.
In the prior art, chinese patent document CN104750963A discloses a method and an apparatus for estimating intersection delay time, which detect the time points when each vehicle enters and leaves the intersection through a vehicle-mounted terminal, a handheld mobile terminal, or roadside detection equipment, calculate the time length when each vehicle passes through the intersection, and calculate the delay time length when the vehicle is at a called intersection according to the time length when the vehicle passes through the intersection and the time length when the vehicle passes through the intersection at a free flow speed.
Chinese patent document CN106652454A discloses an intersection delay estimation method based on floating car data, which matches GPS data uploaded by a floating car in real time with an intersection map, records the position and time when the vehicle starts to decelerate at an entrance lane and the position and time when the vehicle accelerates to a smooth speed at an exit lane, respectively calculates the time used in the two states, and calculates the delay of the vehicle at the intersection.
Chinese patent document CN105096597A discloses an intersection delay determination method, which identifies the turn of an intersection according to an approach, calculates a turn angle, calls an intersection turn delay penalty function, assigns a value according to the road type and the identified turn of the intersection, and performs intersection delay determination according to the intersection turn delay penalty function.
Chinese patent document CN101783073A discloses a signalized intersection delay measuring method based on a dual-section detector, in which two sets of detectors are respectively installed at an intersection and a road section far from the intersection, after a signal cycle is finished, information of vehicles which are driven away from a stop line during the period when a first vehicle stops at the intersection and during a green light is acquired from detection data at the stop line, approximate times when the two vehicles pass through an upstream detector of an entrance lane are calculated according to the stop time of the first vehicle and the time when the last vehicle passes through the stop line and free-running time, the two times are used as end points of a time interval, information data of the vehicles in the time interval are screened from the detection data, and reasonable data are selected according to lane and vehicle type information as the time when the vehicles which are driven away in the period pass through a far-end detection section. The difference value between the running time of each vehicle in the two sections and the running time of the free stream is the delay of the vehicle at the intersection.
However, the above prior art solutions have the following disadvantages:
first, the position where the vehicle is parked and waiting at the intersection is not fixed, and the time point at which the vehicle enters the intersection is not accurate based on the detection of the device;
secondly, the floating car data has the problems of less sample data, inaccurate positioning and deviation in matching with a map;
thirdly, the detection method of the double detectors has the problems of high cost and low applicability;
fourth, model-based delay algorithms are complex and not easy to practice.
In summary, in the prior art, how to simply and accurately estimate the delay time of vehicles at each direction of an intersection is still lack of an effective solution.
Disclosure of Invention
Aiming at the defects in the prior art and solving the problem of how to simply and accurately estimate the vehicle delay time of each direction of the intersection in the prior art, the invention provides a method and a device for estimating the delay of a signal control intersection of a trunk road, which are suitable for controlling the intersection by the signal with less interference on the vehicles on the road section. The method obtains the vehicle delay time of each direction of the intersection by using the existing intersection equipment based on the intersection data, and has the advantages of simple operation and high accuracy.
The invention aims to provide a main road signal control intersection delay estimation method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a main road signal control intersection delay estimation method comprises the following steps:
receiving and storing the bayonet data uploaded by each bayonet device;
grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection;
the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period;
and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light.
As a further preferable scheme, in the method, passing vehicles in downstream intersections in the gate data are grouped according to the passing phase and the driving direction of the intersection, and each group corresponds to a passing phase behind the direction of a branch vehicle.
As a further preferable scheme, in the method, the vehicles in each group after being grouped are sorted according to the sequence of passing through the downstream intersection.
As a further preferable aspect, in the method, the headway of the vehicle in the group is calculated from a difference between a recording time of the vehicle in the group passing through the downstream intersection and a recording time of an adjacent previous vehicle passing through the downstream intersection.
As a further preferable scheme, in the method, whether the vehicle is a boundary point of two signal periods is judged according to the relation between the headway time of the vehicle in the group and the red light time in the group.
As a further preferable scheme, after the vehicles in each group are regrouped according to the signal period, the vehicles in each regrouped group are reordered according to the sequence of passing through the upstream intersection.
As a further preferred scheme, the vehicles in each regrouped group are divided into queued vehicles and non-queued vehicles passing directly under green lights according to road travel time.
As a further preferable aspect, the average travel time of a vehicle passing through the intersection under a green light in the group is an average of the recorded times of all non-queued vehicles passing directly under green lights in the group passing through the downstream intersection.
It is a second object of the present invention to provide a computer-readable storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme:
a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to perform the process of:
receiving and storing the bayonet data uploaded by each bayonet device;
grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection;
the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period;
and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light.
A third object of the present invention is to provide a terminal device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer readable storage medium for storing a plurality of instructions adapted to be loaded by a processor and to perform the process of:
receiving and storing the bayonet data uploaded by each bayonet device;
grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection;
the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period;
and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light.
The invention has the beneficial effects that:
the invention relates to a method and a device for estimating delay of a signal control intersection of a trunk road, which utilize the existing data of the intersection bayonet to group passing vehicles in the intersection according to signal phases and driving directions, take a headway interval as a signal period demarcation point for the vehicles in a group, regroup the vehicles in the group according to a signal period, divide the vehicles in the group into green lights according to road section travel time, directly pass the vehicles and queue the passing vehicles, and further obtain the delay time of the vehicles; the method can obtain the vehicle delay of each direction of the intersection by using the existing bayonet equipment, and has the advantages of simple operation and high accuracy.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a flow chart of a trunk signal control intersection delay estimation method based on checkpoint data according to the present invention;
FIG. 2 is a flowchart of a specific method of embodiment 1 of the present invention.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It is noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, a segment, or a portion of code, which may comprise one or more executable instructions for implementing the logical function specified in the respective embodiment. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The checkpoint system, also known as a vehicle intelligent monitoring and recording system, performs automatic detection, recording and license plate recognition on passing vehicles on urban boundary roads and important road sections by virtue of the characteristics of high coverage rate and high precision rate. The checkpoint data is applied to the urban traffic management, and another feasible solution is provided for solving the urban traffic problem.
Without conflict, the embodiments and features of the embodiments of the present application may be combined with each other to further explain the present invention in conjunction with the figures and embodiments.
Example 1:
the embodiment 1 aims to provide a trunk road signal control intersection delay estimation method based on bayonet data.
In order to achieve the purpose, the invention adopts the following technical scheme:
as shown in figure 1 of the drawings, in which,
a trunk signal control intersection delay estimation method based on bayonet data comprises the following steps:
step (1): receiving and storing the bayonet data uploaded by each bayonet device;
step (2): grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection;
and (3): the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period;
and (4): and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light.
In step (1) of this embodiment, the card port data uploaded by each card port device is imported into the database, and when the processor needs the card port data, the processor calls the needed card port data from the database in real time.
The specific steps from step (2) to step (4) in this embodiment are shown in fig. 2.
In step (2) of this embodiment, passing vehicles in the downstream intersection in the gate data are grouped according to the passing phase and the driving direction of the intersection, and each group corresponds to a passing phase behind the passing direction of the branch vehicle.
In step (2) of this embodiment, the vehicles in each group after grouping are sorted according to the sequence of passing through the downstream intersection.
And (3) grouping and numbering the gate data according to a signal timing scheme (passing phase) and a vehicle passing direction of each intersection, wherein the grouping number is j, j is 1,2 and 3 … n, the vehicle data of each passing phase are sorted and numbered according to the sequence recorded by time of the downstream intersection after being grouped, and the vehicle number in each phase is i, i is 1,2 and 3 … n.
In the embodiment, a common signal control intersection is taken as an example, and a common signal timing scheme sequentially comprises east-west straight going, east-west left turning, south-north straight going and south-north left turning; in this embodiment, the passing phase and the traveling direction are combined to obtain the timing phase after the direction division, which specifically includes east going straight, west going straight, east turning left, west turning left, south going straight, north going straight, south turning left and north turning left, and the vehicles in the above eight direction phases are respectively grouped and numbered, and the grouped numbers are 1,2,3, 4, 5, 6, 7 and 8 in sequence.
In step (3) of the present embodiment, the headway of the vehicle in the group is calculated from the difference between the recording time of the vehicle in the group passing through the downstream intersection and the recording time of the vehicle immediately preceding the vehicle passing through the downstream intersection.
The calculation formula of the time headway of the ith vehicle and the (i-1) th vehicle in the jth phase is as follows:
wherein the content of the first and second substances,
the time headway between the ith vehicle and the (i-1) th vehicle in the jth phase,
the recorded time for the ith vehicle to pass through the downstream intersection in the jth phase,
and recording the time when the i-1 st vehicle passes through the downstream intersection in the j phase.
In step (3) of this embodiment, it is determined whether the vehicle is a boundary point of two signal periods according to a relationship between a headway of the vehicle in the group and a red light time in the group.
The judgment conditions are as follows:
wherein the content of the first and second substances,
the red light time in the jth phase.
When the head of a vehicle is spaced
Time greater than or equal to red light
When the vehicle i is the boundary point between the signal period and the previous signal period.
In step (4) of this embodiment, after each group of vehicles is regrouped according to the signal period, each regrouped group of vehicles is reordered according to the sequence of passing through the upstream intersection.
In step (4) of this embodiment, each regrouped vehicle in the group is divided into a queued vehicle and a non-queued vehicle passing directly under the green light according to the road travel time, and the phase vehicle delay is calculated.
The phase vehicle delay calculation formula is as follows:
wherein the content of the first and second substances,
the delay times for all vehicles in the jth phase,
the recorded time for the ith vehicle to pass through the downstream intersection in the jth phase,
the average travel time of the vehicle passing through the road section under the green light in the j-th phase is obtained. The average travel time of the vehicles passing through the intersection under the green light in the group is the average value of the recording time of all the non-queued vehicles directly passing through the downstream intersection under the green light in the group.
Example 2:
the object of this embodiment 2 is to provide a computer-readable storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme:
a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to perform the process of:
step (1): receiving and storing the bayonet data uploaded by each bayonet device;
step (2): grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection;
and (3): the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period;
and (4): and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light.
Example 3:
the purpose of this embodiment 3 is to provide a terminal device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; a computer readable storage medium for storing a plurality of instructions adapted to be loaded by a processor and to perform the process of:
step (1): receiving and storing the bayonet data uploaded by each bayonet device;
step (2): grouping passing vehicles in the intersection in the gate data according to the passing phase and the driving direction of the intersection;
and (3): the method comprises the following steps of (1) obtaining a corresponding signal period by taking a headway interval of vehicles in a group as a signal period demarcation point, and regrouping the vehicles in each group according to the signal period;
and (4): and estimating the vehicle delay time of the intersection according to the time when each regrouped vehicle in the group passes through the intersection and the average travel time when the vehicle in the group passes through the intersection under the green light.
These computer-executable instructions, when executed in a device, cause the device to perform methods or processes described in accordance with various embodiments of the present disclosure.
In the present embodiments, a computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for performing various aspects of the present disclosure. The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present disclosure by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
It should be noted that although several modules or sub-modules of the device are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the modules described above may be embodied in one module in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module described above may be further divided into embodiments by a plurality of modules.
The invention has the beneficial effects that:
the invention relates to a method and a device for estimating delay of a signal control intersection of a trunk road, which utilize the existing data of the intersection bayonet to group passing vehicles in the intersection according to signal phases and driving directions, take a headway interval as a signal period demarcation point for the vehicles in a group, regroup the vehicles in the group according to a signal period, divide the vehicles in the group into green lights according to road section travel time, directly pass the vehicles and queue the passing vehicles, and further obtain the delay time of the vehicles; the method can obtain the vehicle delay of each direction of the intersection by using the existing bayonet equipment, and has the advantages of simple operation and high accuracy.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A trunk road signal control intersection delay estimation method is characterized by comprising the following steps:
receiving and storing the bayonet data uploaded by each bayonet device;
judging whether the vehicle is a boundary point of two signal periods or not according to the relation between the headway time of the vehicles in the group and the red light time in the group, obtaining corresponding signal periods by taking headway time intervals of the vehicles in the group as the boundary points of the signal periods, and regrouping the vehicles in each group according to the signal periods;
estimating vehicle delay time at the intersection according to the time when each regrouped group of vehicles passes through the intersection and the average travel time when the group of vehicles passes through the intersection under the green light;
dividing the vehicles in each regrouped group into queued vehicles and non-queued vehicles which directly pass under a green light according to the travel time of the road section, and calculating the phase vehicle delay;
the phase vehicle delay calculation formula is as follows:
wherein the content of the first and second substances,
the delay times for all vehicles in the jth phase,
the recorded time for the ith vehicle to pass through the downstream intersection in the jth phase,
the average travel time of the vehicle passing through the road section under the green light in the jth phase; crossing under green light of vehicles in groupThe average travel time of (a) is the average of the recorded times for all non-queued vehicles in the group passing directly under the green light to pass through the downstream intersection.
2. A method according to claim 1, wherein in the method passing vehicles in downstream intersections in the gate data are grouped according to the passing phase and direction of the intersection, each group corresponding to a passing phase following the direction of the split lane.
3. A method according to claim 1 wherein in the method the vehicles in each group after grouping are ordered according to the order of precedence through the downstream intersection.
4. A method according to claim 1 wherein in the method the headway of a vehicle in the group is calculated from the difference between the recorded time for the vehicle in the group to pass through the downstream intersection and the recorded time for the vehicle immediately preceding the group to pass through the downstream intersection.
5. The method of claim 1, wherein after each regrouping of vehicles in the group according to signal period, each regrouped group of vehicles is reordered according to the order of precedence of passing through the upstream intersection.
6. A computer-readable storage medium having stored thereon a plurality of instructions, characterized in that said instructions are adapted to be loaded by a processor of a terminal device and to perform the method according to any one of claims 1-5.
7. A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; computer-readable storage medium for storing a plurality of instructions for performing the method according to any one of claims 1-5.
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| CN111798679B (en) * | 2020-07-24 | 2021-10-22 | 公安部交通管理科学研究所 | Signalized intersection lane green light loss time calculation method and system |
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