CN108320537A - The computational methods and device of vehicle queue length - Google Patents
The computational methods and device of vehicle queue length Download PDFInfo
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- CN108320537A CN108320537A CN201810304710.1A CN201810304710A CN108320537A CN 108320537 A CN108320537 A CN 108320537A CN 201810304710 A CN201810304710 A CN 201810304710A CN 108320537 A CN108320537 A CN 108320537A
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The present invention provides a kind of computational methods of vehicle queue length and device, this method includes：The first time headway for obtaining target track stop line position, generates the first time headway sequence in current green light period；When the numerical value in the first time headway sequence occurs discrete, according to position of the discrete numerical value in the first time headway sequence occurs, the maximum queue length in green light period is determined.Method in the present invention applies vehicle dissipation law, the vehicle being at a stop in the queue, to dissipating successively by halted state, for continuous variable, and when next vehicle of tail of the queue, not in queue, its transport condition does not follow vehicle dissipation law, generate discrete variable, so the position where the discrete variable is the position of tail of the queue vehicle, thus it just can determine that maximum queue length, the vehicle queue length that this method is calculated is more accurate, it is relatively reliable, it is poor to alleviate existing queue length computational methods accuracy, the low technical problem of reliability.
Description
Technical field
The present invention relates to the technical fields of intelligent transportation, more particularly, to the computational methods and dress of a kind of vehicle queue length
It sets.
Background technology
The real-time accurate differentiation obtained with traffic behavior of road traffic parameter is the basis for implementing effective traffic control, road
The queue length of vehicle is effectively to portray one of the important parameter of road traffic state in section, and real-time, accurate vehicle queue is long
Degree estimation can be that the intelligent transportation such as traffic signalization effect assessment, traffic signal control scheme optimization and traffic guidance are answered
With the support that offer is strong.
Existing most common vehicle queue length acquisition methods are after establishing simulation model based on micro-simulation simulator, soft
What part operation obtained.In addition to this, other methods for calculating acquisition queue length by hardware mode mainly have following two：
One is the queue length detection methods based on video analysis, mainly by image recognition technology, according to have vehicle and
No vehicle image corresponds to the difference of frequency spectrum, detects and whether there is vehicle on section；Another kind is to first pass through section detector to calculate
It into road junction flow, is then calculated by preset model, is mainly used in the self-adapting traffic signals control system such as SCOOT.
Using the calculated queue length of micro-simulation simulator often without real-time, can only come as individual sample into
The rough analysis of row, and simulation software needs the calibrating parameters of extraneous input excessive, the mathematical model used in simulation software
Precision can not objectively respond out the traffic circulation rule of reality, and there are large errors for obtained queue length, so can not reach
To the requirement of anticipation；Video detection is affected by environment, as accuracy of detection can reduce under sleety weather, and video detection cost compared with
It is high；The unstable problem of section detector Existing detector itself precision by flow rate calculation queue length, such as Coil Detector
Driving behavior after device aging and vehicle passing detection device can not only lean on volume forecasting, so precision can not ensure.
To sum up, existing vehicle queue length computational methods accuracy when the queue length for carrying out vehicle calculates is poor, can
It is low by property.
Invention content
In view of this, the purpose of the present invention is to provide a kind of computational methods of vehicle queue length and device, to alleviate
Existing vehicle queue length computational methods accuracy when the queue length for carrying out vehicle calculates is poor, and the low technology of reliability is asked
Topic.
In a first aspect, an embodiment of the present invention provides a kind of computational methods of vehicle queue length, the method includes：
The first time headway for obtaining target track stop line position, generates the first time headway sequence in current green light period
Row, wherein first time headway is the time interval that the two cars continuously driven pass through target track stop line；
When the numerical value in the first time headway sequence occurs discrete, according to the discrete numerical value of generation in the first headstock
When away from the position in sequence, determine the maximum queue length in the green light period.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein obtains
While taking first time headway, obtains vehicle and car data is crossed by the period of target track upstream position, wherein
The period cross car data include at least open the bright moment since green light target track upstream position by vehicle and
Vehicle is corresponding to spend the vehicle time, and the method further includes：
Car data and the maximum queue length are crossed according to the period, determines that green light opens the green of bright moment and opens queuing length
Degree.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein root
Car data and the maximum queue length are crossed according to the period, determines that green light opens the green of bright moment and opens queue length and include：
The second time headway that car data determines target track upstream position is crossed according to the period, is generated from green light
Open the second time headway sequence that the bright moment starts；
The maximum queue length and the first preset value are compared, wherein first preset value is for indicating institute
State the maximum capacity of vehicle in the section between target track upstream position and the target track stop line position；
When the maximum queue length is less than first preset value, then the second time headway sequence pair institute is based on
It states maximum queue length to be corrected, obtains the green light and open the green of bright moment opening queue length.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiments of first aspect, wherein obtains
While taking first time headway, obtains the vehicle within the current green light period and pass through the target track stop line position
First mistake vehicle flowrate, and be obtained from green light and open the second mistake vehicle flowrate that the bright moment starts target track upstream position, work as institute
When stating maximum queue length not less than first preset value, the method further includes：
Vehicle flowrate and described second is crossed based on described first to cross vehicle flowrate and calculate the green light and open the green of bright moment and open queuing
Length.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiments of first aspect, wherein base
Maximum queue length is corrected described in the second time headway sequence pair, obtains the green row of opening that the green light opens the bright moment
Team leader's degree includes：
It counts in the preset time before green light terminates, vehicle flowrate is crossed by the third of target track upstream position；
Since first numerical value of the second time headway sequence, statistics is continuously less than the numerical value of the second preset value
Number；
According to updating formula Q=i-Vx-NuThe maximum queue length is corrected, the green light is obtained and opens the bright moment
Green open queue length, wherein i indicates the maximum queue length, VxIndicate that the third crosses vehicle flowrate, NuIndicate the number
It is worth number, Q indicates that the green light opens the green of bright moment and opens queue length.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein base
Vehicle flowrate and described second is crossed in described first to cross vehicle flowrate and calculate the green light and open the green of bright moment and open queue length and include：
According to queue length calculation formula Q=VsG-VuGIt calculates the green light and opens the green of bright moment and open queue length, wherein
VsGIndicate that described first crosses vehicle flowrate, VuGIndicate that described second crosses vehicle flowrate, Q indicates that the green light opens the green row of opening at bright moment
Team leader's degree.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiments of first aspect, wherein when
When numerical value in the first time headway sequence occurs discrete, according to the discrete numerical value of generation in the first time headway sequence
Position, determine that the maximum queue length in the green light period includes：
It is determined in the first time headway sequence and discrete numerical value occurs, wherein is described discrete numerical value occurs to be
The first numerical value more than third preset value of numerical value in the first time headway sequence；
Judge whether the first object numerical value in the first time headway sequence is respectively less than the third preset value,
In, the first object numerical value is the preset quantity after the discrete numerical value of the generation in the first time headway sequence
A numerical value；
If it is judged that it is no, then according to the location determination institute that discrete numerical value occurs in the first time headway sequence
State the maximum queue length in green light period.
With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiments of first aspect, wherein institute
The method of stating further includes：
If it is judged that the first object numerical value in the first time headway sequence is respectively less than the third preset value, then
The discrete numerical value of next generation is determined in the first time headway sequence, wherein the discrete number of next generation
Value is the first numerical value more than the third preset value in remaining numerical value, and the residue numerical value is the first time headway sequence
Before the discrete numerical value of discrete numerical value and the removing generation of the middle removing generation after numerical value, remaining numerical value；
Judge whether the second target value in the first time headway sequence is respectively less than the third preset value,
In, second target value is pre- after the discrete numerical value of next generation in the first time headway sequence
If quantity numerical value；
If it is judged that it is no, then according to next position that discrete numerical value occurs in the first time headway sequence
Determine the maximum queue length in the green light period.
With reference to first aspect, an embodiment of the present invention provides the 8th kind of possible embodiments of first aspect, wherein institute
It states the first preset value to be calculated according to preset value calculation formula, wherein the preset value calculation formula is：L
Indicate that the distance between target track upstream position and the target track stop line position, N indicate between preset vehicle
Away from the vehicle spacing is the distance between the two cars continuously driven.
Second aspect, the embodiment of the present invention additionally provide a kind of computing device of vehicle queue length, and described device includes：
Acquisition module, the first time headway for obtaining target track stop line position generate the current green light period
First time headway sequence, wherein first time headway is that the two cars continuously driven are stopped by the target track
The time interval of line；
First determining module, for when in the first time headway sequence numerical value occur it is discrete when, according to occur from
Position of the scattered numerical value in the first time headway sequence, determines the maximum queue length in the green light period.
The embodiment of the present invention brings following advantageous effect：An embodiment of the present invention provides a kind of meters of vehicle queue length
Method and device is calculated, this method includes：The first time headway for obtaining target track stop line position, generates the current green light period
The first time headway sequence, wherein the first time headway be the two cars that continuously drive by target track stop line when
Between be spaced；When the numerical value in the first time headway sequence occurs discrete, according to the discrete numerical value of generation in the first time headway
Position in sequence determines the maximum queue length in green light period.
In existing vehicle queue length computational methods, the method for micro-simulation simulator does not have real-time, can only conduct
Individual sample carries out rough analysis, cannot objectively respond out the traffic circulation rule of reality, error calculated is larger；
The method of video detection is affected by environment, and accuracy of detection can reduce, and of high cost；Section detector Existing detector itself is unstable
Fixed problem, accuracy of detection are poor.Compared with existing vehicle queue length computational methods, the vehicle queue of the embodiment of the present invention is long
In the computational methods of degree, the first time headway of target track stop line position is first obtained, the first of current green light period is obtained
Time headway sequence, when the numerical value in the first time headway sequence occurs discrete, and then according to discrete numerical value occurs the
Position in one time headway sequence, determines the maximum queue length in green light period.Method in the present invention is according to target track
The discrete location of numerical value, determines the maximum queue length in green light period in the first time headway sequence of line position of stopping, this is really
The method of determining applies vehicle dissipation law, i.e., the vehicle being at a stop in the queue, to dissipating successively by the state stopped, usually
In the case of, the numerical value of time headway changes in a numerical intervals.And when tail of the queue next vehicle not in queue,
This will cause its transport condition not to follow vehicle dissipation law, the numerical value of time headway will produce it is discrete, so this is discrete
Variable where position be tail of the queue vehicle position, to which the maximum queue length in green light period, the party just can be obtained
Method is more accurate when the queue length for carrying out vehicle calculates, relatively reliable, alleviates existing vehicle queue length calculating side
Method accuracy when the queue length for carrying out vehicle calculates is poor, the low technical problem of reliability.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of flow chart of the computational methods of vehicle queue length provided in an embodiment of the present invention；
When Fig. 2 is that the numerical value provided in an embodiment of the present invention when in the first time headway sequence occurs discrete, according to generation
Position of the discrete numerical value in the first time headway sequence, determines the method flow diagram of the maximum queue length in green light period；
Fig. 3 crosses car data and maximum queue length to be provided in an embodiment of the present invention according to the period, when determining that green light opens bright
The green method flow diagram for opening queue length carved；
Fig. 4 is that the second time headway sequence pair maximum queue length provided in an embodiment of the present invention that is based on is corrected, and is obtained
The green method flow diagram for opening queue length at bright moment is opened to green light；
Fig. 5 is a kind of structure diagram of the computing device of vehicle queue length provided in an embodiment of the present invention.
Icon：
11- acquisition modules；The first determining modules of 12-.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
For ease of understanding the present embodiment, first to a kind of vehicle queue length disclosed in the embodiment of the present invention
Computational methods describe in detail.
Embodiment one：
A kind of computational methods of vehicle queue length, with reference to figure 1, this method includes：
S102, the first time headway for obtaining target track stop line position, generate first headstock in current green light period
When away from sequence, wherein the first time headway is the time interval that the two cars continuously driven pass through target track stop line；
Inventor by the observation and analysis of traffic data flow data, having found usually within off-peak period, row for a long time
Team's vehicle is after green light opened from the bright moment, and the vehicle traveling in queue queue is by stop line, what is detected is continuous
There is regularity in the time headway between the two cars of traveling.The numerical value of vehicle i.e. in queue queue, time headway can compare
Compared with polymerization, without the vehicle in queue queue, time headway will appear discrete, it is possible to when according to discrete headstock occurs
Position away from determining tail of the queue vehicle, and then obtain the maximum queue length in green light period.
As an alternative embodiment, the realization of the program can be completed by set of system.In the set system
Including wagon detector, gateway and host computer bury wagon detector (by the vehicle at the stop line position of target track in advance
Detector is referred to as the thread detector that stops), wagon detector can be the detector of directly or indirectly detection time headway, such as
Geomagnetism detecting device, microwave detector, coil checker, video detector etc., form of the embodiment of the present invention to wagon detector
Without concrete restriction.
After parking line position is buried and has configured wagon detector, green light open it is bright after, the vehicle in target track is opened
Begin to move, when by parking thread detector, which can detect the two cars same characteristic features continuously driven
Position is by the time interval of the parking thread detector, as the first time headway, specifically, with the same characteristic features portion of two cars
Position (such as headstock, tailstock etc.) is calculated by the time difference of the parking thread detector.
As an alternative embodiment, within the current green light period, continuous more vehicles are by the thread detector that stops, just
Corresponding first time headway sequence can be obtained, the first obtained time headway sequence is sent to gateway, and then will by gateway
First time headway sequence is sent to host computer, so that host computer carries out the calculating of vehicle queue length.
S104, when the numerical value in the first time headway sequence occurs discrete, according to discrete numerical value occurs in the first vehicle
Away from the position in sequence when head, the maximum queue length in green light period is determined.
After acquiring the first time headway sequence, to numerical value therein whether occur it is discrete judge, when first
When numerical value in time headway sequence occurs discrete, according to position of the discrete numerical value in the first time headway sequence occurs,
Determine the maximum queue length in green light period.Hereinafter the process is specifically described again, details are not described herein.
In existing vehicle queue length computational methods, the method for micro-simulation simulator does not have real-time, can only conduct
Individual sample carries out rough analysis, cannot objectively respond out the traffic circulation rule of reality, error calculated is larger；
The method of video detection is affected by environment, and accuracy of detection can reduce, and of high cost；Section detector Existing detector itself is unstable
Fixed problem, accuracy of detection are poor.Compared with existing vehicle queue length computational methods, the vehicle queue of the embodiment of the present invention is long
In the computational methods of degree, the first time headway of target track stop line position is first obtained, the first of current green light period is obtained
Time headway sequence, when the numerical value in the first time headway sequence occurs discrete, and then according to discrete numerical value occurs the
Position in one time headway sequence, determines the maximum queue length in green light period.
Method in the present invention is according to the discrete bits of numerical value in the first time headway sequence of target track stop line position
It sets, determines the maximum queue length in green light period, which applies vehicle dissipation law, i.e., the vehicle being at a stop in the queue
, to dissipating successively by the state stopped, it is generally the case that the numerical value of its time headway becomes in a numerical intervals
Change.And when next vehicle of tail of the queue is not in queue, this will cause its transport condition not to follow vehicle dissipation law,
The numerical value of time headway will produce it is discrete, so the position where the discrete variable is the position of tail of the queue vehicle, to just
The maximum queue length in green light period can be obtained, this method is more accurate when the queue length for carrying out vehicle calculates, more
Reliably, it is poor to alleviate existing vehicle queue length computational methods accuracy when the queue length for carrying out vehicle calculates, reliably
The low technical problem of property.
The above has carried out brief introduction to the maximum queue length in determining green light period, below the tool to being directed to
Hold in vivo and is described in detail.
In one optionally embodiment, with reference to figure 2, when the numerical value in the first time headway sequence occurs discrete,
According to position of the discrete numerical value in the first time headway sequence occurs, determine that the maximum queue length in green light period includes：
S201, the discrete numerical value of generation is determined in the first time headway sequence, wherein it is first that discrete numerical value, which occurs,
The first numerical value more than third preset value of numerical value in time headway sequence；
It is exemplified below, it is assumed that the first time headway is indicated with headway, is abbreviated as Hdwy, and unit is the second.
The first obtained time headway sequence Hdwy [S1, S2, S3, S4..., S14]=2,2,3,2,3,4,4,5,8,9,8,
9,8,8；
In the first time headway sequence, determines and discrete numerical value occurs.Specifically, in the first time headway sequence
In, determine the first numerical value more than third preset value, it is preferable that third preset value is 7.
It is HdwyS so as to obtain the first numerical value more than third preset value9=8, then preliminary judge maximum be lined up
Vehicle number is 8 vehicles.
The embodiment of the present invention is to the size of third preset value without concrete restriction.
S202, judge whether the first object numerical value in the first time headway sequence is respectively less than third preset value, wherein the
One target value is the preset quantity numerical value after discrete numerical value occurs in the first time headway sequence；
After obtaining that discrete numerical value occurs, in the first time headway sequence, after judging to occur discrete numerical value
Whether preset quantity numerical value is respectively less than third preset value.
Why such judgement is carried out, be cleaned to time headway, it can be because of detector by parking thread detector
The reasons such as failure or driving behavior are abnormal, cause time headway numerical value the case where unexpected excessive value occur, so continuing to sentence
Predetermined number value after the discrete numerical value of disconnected generation is small value, if it is small value, then it is assumed that discrete numerical value, which occurs, is
One error value is not that discrete numerical value really occurs；If not small value, then it is assumed that occur discrete numerical value be one just
True value is that discrete numerical value really occurs.In embodiments of the present invention, preferred preset quantity is 5, and the present invention is implemented
Example is to the value of above-mentioned preset quantity without concrete restriction.It is, obtaining that discrete numerical value HdwyS occurs9After=8,
Continue to judge HdwyS10, HdwyS11, HdwyS12, HdwyS13, HdwyS14Whether third preset value 7 is respectively less than.
S203, if it is judged that no, then according to location determination of the discrete numerical value in the first time headway sequence occurs
The maximum queue length in green light period.
Obviously, HdwyS10, HdwyS11, HdwyS12, HdwyS13, HdwyS147 are not respectively less than, then according to the discrete number of generation
It is worth the maximum queue length in the location determination green light period in the first time headway sequence.It is, HdwyS9=8 indicate true
Just occurring discrete numerical value, the maximum queue length in corresponding green light period is 8 (because it is in the first time headway sequence
Position is the 8th).
Optionally, this method further includes：
S204, if it is judged that the first object numerical value in the first time headway sequence is respectively less than third preset value, then exist
The discrete numerical value of next generation is determined in first time headway sequence, wherein next that discrete numerical value occurs as remainder
The first numerical value more than third preset value in value, remaining numerical value be removed in the first time headway sequence occur discrete numerical value with
And it removes before discrete numerical value occurs after numerical value, remaining numerical value；
Assuming that the first obtained time headway sequence Hdwy [S1, S2, S3, S4..., S14]=2,2,3,2,8,3,4,4,3,
2,8,9,8,8,9,8；
In above-mentioned first time headway sequence, can obtain the first numerical value more than third preset value (such as 7) is
HdwyS5=8.
It is obtaining that discrete numerical value HdwyS occurs5After=8, continue to judge HdwyS6, HdwyS7, HdwyS8, HdwyS9,
HdwyS10Whether third preset value 7 is respectively less than, it is clear that HdwyS6, HdwyS7, HdwyS8, HdwyS9, HdwyS10Respectively less than third
Preset value 7, illustrates HdwyS5It is an error value, then continuing to determine that next generation is discrete in the first time headway sequence
Numerical value, wherein it is next that discrete numerical value occurs is the first numerical value more than third preset value in remaining numerical value, remaining numerical value
It is remaining to remove the discrete numerical value of generation in the first time headway sequence and removing before discrete numerical value occurs after numerical value
Numerical value.
It is, in HdwyS5Later determine it is next be more than 7 numerical value, it is clear that HdwyS11=8, i.e. HdwyS11=8 are
It is next that discrete numerical value occurs.
S205, judge whether the second target value in the first time headway sequence is respectively less than third preset value, wherein the
Two target values are the preset quantity numerical value after the discrete numerical value of next generation in the first time headway sequence；
It is obtaining that discrete numerical value HdwyS occurs11After=8, in the first time headway sequence, continue to judge next hair
Whether the preset quantity numerical value after raw discrete numerical value is respectively less than third preset value.
In embodiments of the present invention, preferred preset quantity is 5, and the embodiment of the present invention is to above-mentioned preset quantity
Value is without concrete restriction.It is, obtaining that discrete numerical value HdwyS occurs11After=8, continue to judge HdwyS12,
HdwyS13, HdwyS14, HdwyS15, HdwyS16Whether third preset value 7 is respectively less than.
S206, if it is judged that no, then according to next position that discrete numerical value occurs in the first time headway sequence
Set the maximum queue length in determining green light period.
Obviously, HdwyS12, HdwyS13, HdwyS14, HdwyS15, HdwyS16Not be respectively less than 7, then according to it is next occur from
The maximum queue length in location determination green light period of the scattered numerical value in the first time headway sequence.It is, HdwyS11=8
Discrete numerical value really occurs for expression, and the maximum queue length in corresponding green light period is 10 (because it is in the first time headway
Position in sequence is the 10th).
If it is judged that being then to repeat above-mentioned step, until the discrete numerical value that occurs for obtaining meeting condition is
Only, and then the maximum queue length in green light period can be obtained.
The above describes the maximum queue length for how determining the green light period in detail, opens below how to calculate green light
It opens queue length and is introduced in the green of bright moment.
Inventor opens the green of bright moment in view of simple use parking thread detector can not calculate green light and opens queue length.
Because green light opens the bright moment, although the vehicle in front starts and passes sequentially through parking thread detector successively in queue queue,
But the vehicle in tail of the queue can not open bright first time in green light and just move, and upstream carrys out vehicle and will continue to the row of addition at this time
The tail of the queue of team's queue hence into queue, and rely on parking thread detector by time headway can not determine come green light open it is bright after
The vehicle in queue queue is added, that is, obtained maximum queue length includes that green light opens the bright rear vehicle into fleet
.And in practice, green light open the bright moment it is green open queue length need to make maximum queue length subtract green light open it is bright after enter vehicle
Vehicle fleet size in team；By experiment it has furthermore been found that in former seconds that green light terminates, if there is vehicle enters upstream detector,
The bright moment can not be opened in green light and enter fleet, but can green light open it is bright after enter fleet within several seconds, that is to say, that obtained maximum
Also include the Some vehicles in queue length, opens queue length so green light opens the green of bright moment and need that maximum queue length is made to subtract
Remove the Some vehicles.
Based on this, inventor expects being corrected maximum queue length by the data of upstream detector, and then determines
Green light opens the green of bright moment and opens queue length.
In one optionally embodiment, while obtaining the first time headway, obtains vehicle and pass through on target track
The period of trip position crosses car data, wherein the period crosses car data including at least target track upstream opening the bright moment since green light
Position by vehicle and vehicle is corresponding spends the vehicle time, this method further includes：
Car data and maximum queue length are crossed according to the period, determines that green light opens the green of bright moment and opens queue length.
In embodiments of the present invention, it while obtaining the first time headway, obtains vehicle and passes through target track upstream position
The period set crosses car data.In specific implementation, in target track, upstream position is embedded with wagon detector (referred to as upstream detection
Device), vehicle can be detected by the upstream detector, car data is crossed by the period of target track upstream position, then by this week
Phase crosses car data and is sent to gateway, and then gateway will cross car data the period and be sent to host computer, so that host computer calculate
The green of bright moment, which is opened, to green light opens queue length.
Wherein, target track upstream position can be apart from the position of 200 meters of stop line, and certainly, upstream detector is buried
If position is related to the actual conditions at crossing, upstream detector can also be other values at a distance from stop line, and the present invention is implemented
Example is to it without concrete restriction.
The present invention can determine that green light opens the green of bright moment and opens queue length, hereinafter again to according to the period cross car data and
Maximum queue length determines that green light opens the green process for opening queue length at bright moment and is described in detail, and details are not described herein.
In one optionally embodiment, with reference to figure 3, car data and maximum queue length are crossed according to the period, determined green
Lamp opens the green of bright moment and opens queue length and include：
S301, the second time headway that car data determines target track upstream position is crossed according to the period, generation is opened from green light
The second time headway sequence that the bright moment starts；
Specifically, obtaining after the period crosses car data, it will be able to determine the second time headway of target track upstream position,
And then generate the second time headway sequence opening the bright moment since green light.Second time headway is that the two cars continuously driven lead to
Cross the time interval of target track upstream position.
The second time headway sequence is illustrated below, it is assumed that the second time headway sequence Hdwy [U1, U2, U3,
U4, U5]=1,3,6,4,2.
S302, maximum queue length and the first preset value are compared, wherein the first preset value is for indicating target carriage
The maximum capacity of vehicle in section between road upstream position and target track stop line position；
Such as determine that obtained maximum queue length is 10 in step S206, by the maximum queue length and the first preset value
It is compared.
Specifically, the first preset value is calculated according to preset value calculation formula, wherein preset value calculation formula
For：L indicates that the distance between target track upstream position and target track stop line position, N indicate preset vehicle
Spacing, vehicle spacing are the distance between the two cars continuously driven.
Assuming that the size of L is 180 meters, the size of N is 9 meters, then NaSize be 20, the embodiment of the present invention is to above-mentioned number
Value is without concrete restriction.
Maximum queue length is compared for 10 with the first preset value 20.
S303, when maximum queue length be less than the first preset value when, then be based on the second time headway sequence pair maximum be lined up
Length is corrected, and obtains green light and open the green of bright moment opening queue length.
Obviously, maximum queue length is less than the first preset value 20 for 11, then, it is maximum based on the second time headway sequence pair
Queue length is corrected, and obtains green light and open the green of bright moment opening queue length.
In one optionally embodiment, with reference to figure 4, carried out based on the second time headway sequence pair maximum queue length
Correction, obtains green light and opens the green of bright moment opening queue length and include：
S401, statistics green light terminate before preset time in, vehicle flowrate is crossed by the third of target track upstream position；
Preferably, in preset time in 5 seconds, the embodiment of the present invention in preset time without concrete restriction.
The third crosses vehicle flowrate and indicates that green light opens the quantity of the bright vehicle entered later.
In former seconds that green light terminates, if there is vehicle enters upstream detector, the bright moment can not be opened in green light and enter fleet,
But it can be opened bright latter several seconds in green light and enter fleet, that is to say, that also include the Some vehicles in obtained maximum queue length,
And the Some vehicles are not belonging to green light and open vehicle in the queue queue at bright moment, it is the part vehicle which, which crosses vehicle flowrate,
.
S402, since first numerical value of the second time headway sequence, statistics continuously be less than the second preset value numerical value
Number；
As described in step S301, it is assumed that the second time headway sequence Hdwy [U1, U2, U3, U4, U5]=1,3,6,4,2；It is preferred that
The size on ground, the second preset value is 4, and the size of the second preset value of the embodiment of the present invention pair is without concrete restriction.
Start from first numerical value of the second time headway sequence (such as 1,3,6,4,2), it is default that statistics is continuously less than second
The numerical value number of value 4, it is clear that the numerical value number is 2.
Green light opens the bright moment, although the vehicle in front starts and passes sequentially through stop line detection successively in queue queue
Device, but the vehicle in tail of the queue can not open bright first time in green light and just move, at this time upstream come vehicle will continue to plus
Enter the tail of the queue of queue queue hence into queue, and relies on parking thread detector that can not be determined by time headway and opened come green light
Be added the vehicle in queue queue after bright, that is, obtained maximum queue length include green light open it is bright after enter in fleet
Vehicle.And in practice, green light open the bright moment it is green open queue length should not include the Some vehicles, so statistics be continuously less than
The numerical value number of second preset value, the numerical value number are that the number of vehicles that tail of the queue is added in vehicle is carried out in upstream.
S403, according to updating formula Q=i-Vx-NuMaximum queue length is corrected, green light is obtained and opens the green of bright moment
Open queue length, wherein i indicates maximum queue length, VxIndicate that third crosses vehicle flowrate, NuIndicate that numerical value number, Q indicate green light
It opens the green of bright moment and opens queue length.
The above is described when maximum queue length is less than the first preset value, calculates the green row of opening that green light opens the bright moment
The process of team leader's degree, is not less than the first preset value to maximum queue length below, and calculating green light opens the green of bright moment and opens queuing length
The process of degree is introduced.
In one optionally embodiment, while obtaining the first time headway, the vehicle within the current green light period is obtained
By target track stop line position first cross vehicle flowrate, and be obtained from green light open the bright moment start target track upstream position
Second set crosses vehicle flowrate, and when maximum queue length is not less than the first preset value, this method further includes：
It opens the green of bright moment based on the first vehicle flowrate and the second mistake vehicle flowrate calculating green light excessively and opens queue length；
Specifically：According to queue length calculation formula Q=VsG-VuGCalculating green light opens the green of bright moment and opens queue length,
In, VsGIndicate that first crosses vehicle flowrate, VuGIndicate that second crosses vehicle flowrate, Q indicates that green light opens the green of bright moment and opens queue length.
It should be noted that in actual application, host computer can obtain the detection data in multiple tracks simultaneously, can
Simultaneously the detection data in multiple tracks is analyzed, be calculated each track vehicle queue length (including：The green light period
Maximum queue length, green light opens the green of bright moment and opens queue length).
Embodiment two：
A kind of computing device of vehicle queue length, with reference to figure 5, which includes：
Acquisition module 11, the first time headway for obtaining target track stop line position generate the current green light period
The first time headway sequence, wherein the first time headway be the two cars that continuously drive by target track stop line when
Between be spaced；
First determining module 12 is used for when the numerical value in the first time headway sequence occurs discrete, discrete according to occurring
Position of the numerical value in the first time headway sequence, determine the maximum queue length in green light period.
In the computing device of the vehicle queue length of the embodiment of the present invention, the first of target track stop line position is first obtained
Time headway obtains the first time headway sequence in current green light period, when the numerical value in the first time headway sequence occur from
When dissipating, and then according to position of the discrete numerical value in the first time headway sequence occurs, determine that the maximum of green light period is lined up
Length.
Device in the present invention is according to the discrete bits of numerical value in the first time headway sequence of target track stop line position
It sets, determines the maximum queue length in green light period, which applies vehicle dissipation law, i.e., the vehicle being at a stop in the queue
, to dissipating successively by the state stopped, it is generally the case that the numerical value of its time headway becomes in a numerical intervals
Change.And when next vehicle of tail of the queue is not in queue, this will cause its transport condition not to follow vehicle dissipation law,
The numerical value of time headway will produce it is discrete, so the position where the discrete variable is the position of tail of the queue vehicle, to just
The maximum queue length in green light period can be obtained, the device is more accurate when the queue length for carrying out vehicle calculates, more
Reliably, it is poor to alleviate existing vehicle queue length computing device accuracy when the queue length for carrying out vehicle calculates, reliability
Low technical problem.
Optionally, which further includes：
Acquisition module is additionally operable to while obtaining the first time headway, is obtained vehicle and is passed through target track upstream position
Period cross car data, wherein the period cross car data include at least open the bright moment since green light target track upstream position it is logical
Vehicle and the vehicle corresponding vehicle time excessively crossed；
Second determining module determines that green light opens the green of bright moment for crossing car data and maximum queue length according to the period
Open queue length.
Optionally, the second determining module includes：
First determination unit, for crossing the second time headway that car data determines target track upstream position according to the period,
Generate the second time headway sequence opening the bright moment since green light；
Comparison unit, for comparing maximum queue length and the first preset value, wherein the first preset value is used for table
Show the maximum capacity of vehicle in the section between target track upstream position and target track stop line position；
Unit is corrected, for when maximum queue length is less than the first preset value, being then based on the second time headway sequence pair
Maximum queue length is corrected, and obtains green light and open the green of bright moment opening queue length.
Optionally, the second determining module further includes：
Acquisition module is additionally operable to while obtaining the first time headway, is obtained the vehicle within the current green light period and is passed through
The first of target track stop line position crosses vehicle flowrate, and is obtained from green light opens that the bright moment starts target track upstream position the
Two cross vehicle flowrate；
Computing unit, for when maximum queue length is not less than the first preset value, vehicle flowrate and second to be crossed based on first
It crosses vehicle flowrate and calculates green light and open the green of bright moment and open queue length.
Optionally, correction unit includes：
First statistics subelement passes through target track upstream position for counting in the preset time before green light terminates
Third cross vehicle flowrate；
Second statistics subelement, for since first numerical value of the second time headway sequence, statistics is continuously less than the
The numerical value number of two preset values；
Subelement is corrected, for according to updating formula Q=i-Vx-NuMaximum queue length is corrected, green light is obtained and opens
Open queue length in the green of bright moment, wherein i indicates maximum queue length, VxIndicate that third crosses vehicle flowrate, NuIndicate numerical value number,
Q indicates that green light opens the green of bright moment and opens queue length.
Optionally, computing unit includes：
Computation subunit, for according to queue length calculation formula Q=VsG-VuGCalculate the green row of opening that green light opens the bright moment
Team leader's degree, wherein VsGIndicate that first crosses vehicle flowrate, VuGIndicate that second crosses vehicle flowrate, Q indicates that green light opens the green row of opening at bright moment
Team leader's degree.
Optionally, the first determining module includes：
For being determined in the first time headway sequence discrete numerical value occurs for the second determination unit, wherein occur discrete
Numerical value be the first time headway sequence in the first numerical value more than third preset value of numerical value；
First judging unit, for judging it is pre- whether the first object numerical value in the first time headway sequence is respectively less than third
If value, wherein first object numerical value is the preset quantity number after discrete numerical value occurs in the first time headway sequence
Value；
Third determination unit, if it is judged that it is no, then according to the discrete numerical value of generation in the first time headway sequence
The maximum queue length in location determination green light period.
Optionally, the first determining module further includes：
4th determination unit is preset if it is judged that the first object numerical value in the first time headway sequence is respectively less than third
Value then determines in the first time headway sequence and next discrete numerical value occurs, wherein next discrete numerical value occurs to be
The first numerical value more than third preset value in remaining numerical value, remaining numerical value are that removing generation is discrete in the first time headway sequence
It numerical value and removes before discrete numerical value occurs after numerical value, remaining numerical value；
Second judgment unit, for judging it is pre- whether the second target value in the first time headway sequence is respectively less than third
If value, wherein the second target value is the present count after the discrete numerical value of next generation in the first time headway sequence
Amount numerical value；
5th determination unit, if it is judged that it is no, then discrete numerical value occurs in the first time headway sequence according to next
The maximum queue length in the location determination green light period in row.
Optionally, the first preset value is calculated according to preset value calculation formula, wherein preset value calculation formula
For：L indicates that the distance between target track upstream position and target track stop line position, N indicate preset vehicle
Spacing, vehicle spacing are the distance between the two cars continuously driven.
The computational methods for the vehicle queue length that the embodiment of the present invention is provided and the computer program product of device, including
The computer readable storage medium of program code is stored, the instruction that said program code includes can be used for executing previous methods real
The method described in example is applied, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of computational methods of vehicle queue length, which is characterized in that the method includes：
The first time headway for obtaining target track stop line position, generates the first time headway sequence in current green light period,
Wherein, first time headway is the time interval that the two cars continuously driven pass through target track stop line；
When the numerical value in the first time headway sequence occurs discrete, according to the discrete numerical value of generation in the first time headway
Position in sequence determines the maximum queue length in the green light period.
2. according to the method described in claim 1, it is characterized in that, while obtaining first time headway, vehicle is obtained
Cross car data by the period of target track upstream position, wherein the period cross car data include at least opened from green light
The bright moment start target track upstream position by vehicle and vehicle is corresponding spends the vehicle time, the method also wraps
It includes：
Car data and the maximum queue length are crossed according to the period, determines that green light opens the green of bright moment and opens queue length.
3. according to the method described in claim 2, it is characterized in that, crossing car data and the maximum length of queue according to the period
Degree determines that green light opens the green of bright moment and opens queue length and include：
The second time headway that car data determines target track upstream position is crossed according to the period, generation is opened bright from green light
The second time headway sequence that moment starts；
The maximum queue length and the first preset value are compared, wherein first preset value is for indicating the mesh
Mark the maximum capacity of vehicle in the section between track upstream position and the target track stop line position；
When the maximum queue length is less than first preset value, then it is based on described in the second time headway sequence pair most
Big queue length is corrected, and obtains the green light and open the green of bright moment opening queue length.
4. according to the method described in claim 3, it is characterized in that, while obtaining first time headway, acquisition is being worked as
Vehicle crosses vehicle flowrate by the first of the target track stop line position in the preceding green light period, and is obtained from green light and opens the bright moment
Start target track upstream position second crosses vehicle flowrate, when the maximum queue length is not less than first preset value
When, the method further includes：
Vehicle flowrate and described second is crossed based on described first to cross vehicle flowrate and calculate the green light and open the green of bright moment and open queue length.
5. according to the method described in claim 3, it is characterized in that, based on maximum row described in the second time headway sequence pair
Team leader's degree is corrected, and obtains the green light and open the green of bright moment opening queue length and include：
It counts in the preset time before green light terminates, vehicle flowrate is crossed by the third of target track upstream position；
Since first numerical value of the second time headway sequence, statistics is continuously less than the numerical value number of the second preset value；
According to updating formula Q=i-Vx-NuThe maximum queue length is corrected, the green light is obtained and opens the green of bright moment
Open queue length, wherein i indicates the maximum queue length, VxIndicate that the third crosses vehicle flowrate, NuIndicate the numerical value
Number, Q indicate that the green light opens the green of bright moment and opens queue length.
6. according to the method described in claim 4, it is characterized in that, crossing vehicle flowrate and described second based on described first crosses wagon flow
Amount, which calculates the green light and opens the green of bright moment, to be opened queue length and includes：
According to queue length calculation formula Q=VsG-VuGIt calculates the green light and opens the green of bright moment and open queue length, wherein VsGTable
Show that described first crosses vehicle flowrate, VuGIndicate that described second crosses vehicle flowrate, Q indicates that the green light opens the green of bright moment and opens queuing length
Degree.
7. according to the method described in claim 1, it is characterized in that, the numerical value in the first time headway sequence occur from
When dissipating, according to position of the discrete numerical value in the first time headway sequence occurs, determine that the maximum of the green light period is lined up
Length includes：
It is determined in the first time headway sequence and discrete numerical value occurs, wherein the discrete numerical value of the generation is described
The first numerical value more than third preset value of numerical value in first time headway sequence；
Judge whether the first object numerical value in the first time headway sequence is respectively less than the third preset value, wherein institute
It is the preset quantity number in the first time headway sequence after the discrete numerical value of the generation to state first object numerical value
Value；
If it is judged that it is no, then according to green described in the location determination that discrete numerical value occurs in the first time headway sequence
The maximum queue length in lamp period.
8. the method according to the description of claim 7 is characterized in that the method further includes：
If it is judged that the first object numerical value in the first time headway sequence is respectively less than the third preset value, then in institute
It states and is determined in the first time headway sequence and next discrete numerical value occurs, wherein is described next discrete numerical value occurs to be
The first numerical value more than the third preset value in remaining numerical value, the residue numerical value is to be removed in the first time headway sequence
Go it is described occur discrete numerical value and remove it is described occur before discrete numerical value after numerical value, remaining numerical value；
Judge whether the second target value in the first time headway sequence is respectively less than the third preset value, wherein institute
It is the present count in the first time headway sequence after the discrete numerical value of next generation to state the second target value
Amount numerical value；
If it is judged that it is no, then according to next location determination that discrete numerical value occurs in the first time headway sequence
The maximum queue length in the green light period.
9. according to the method described in claim 3, it is characterized in that, first preset value is according to preset value calculation formula meter
It obtains, wherein the preset value calculation formula is：L indicates target track upstream position and the target
Stop the distance between line position in track, and N indicates preset vehicle spacing, the vehicle spacing be the two cars that continuously drive it
Between distance.
10. a kind of computing device of vehicle queue length, which is characterized in that described device includes：
Acquisition module, the first time headway for obtaining target track stop line position generate the first of current green light period
Time headway sequence, wherein first time headway is that the two cars continuously driven pass through target track stop line
Time interval；
First determining module is used for when the numerical value in the first time headway sequence occurs discrete, discrete according to occurring
Position of the numerical value in the first time headway sequence, determines the maximum queue length in the green light period.
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