CN108417056A - A kind of crossroad signal machine control method based on radar detector - Google Patents
A kind of crossroad signal machine control method based on radar detector Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- 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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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Abstract
The present invention relates to the traffic signal optimization control technology fields of crossroad, in particular a kind of crossroad signal machine control method based on radar detector, with radar vehicle detector, realize that the optimization processing of crossroad access signal timing plan, scheme include：The installation of radar detector；Data acquire and communication；Signal controls optimization algorithm processing；Signal instruction is issued and Signalized control.The present invention uses radar detection data acquisition technique, the traffic behavior of crossroad can accurately be detected, formulate and optimize signal timing plan, optimizing decision and emergency preplan are provided for Traffic signal control, the traffic efficiency for improving intersection, is effectively relieved intersection congestion.
Description
Technical field
The present invention relates to the traffic signal optimization control technology fields of crossroad, specially a kind of to be based on radar detector
Crossroad signal machine control method.
Background technology
City hands over congestion and accident increasingly to take place frequently, and especially intersection section congestion event is serious, such as cannot in real time effectively
Relieve traffic congestion stream, congestion in road can be caused to spread, and reduces intersection operational efficiency, great time and economy are caused to the public
Loss.
Radar vehicle detection technique is by complex or being easy to be formed mounted array radar on the road of congestion and adopting
Collect equipment, vehicular traffic flow, speed are detected, server back is passed collected data by wired or wireless network
The technology that center is handled carries out dynamic traffic signal control by the traffic parameter of acquisition, realizes effective rule of traffic flow
Rule induction, reduces traffic congestion to greatest extent.
Currently, signal control method includes mainly timing controlled, multi-period control, induction control and self adaptive control
Deng traditional model algorithm is excessively stiff to carry out signal optimization according to the variation given threshold of some traffic parameter, can make
Erroneous judgement at system to state；The present invention proposes a kind of single point signals machine control system based on radar detector, based on anti-
Control theory is presented, by the real-time detection of intersection average traffic density and comprehensive analysis, extraction intersection signal control optimizes
Algorithm can greatly improve the traffic circulation efficiency of intersection.
Invention content
The purpose of the present invention is to provide a kind of crossroad signal machine control method based on radar detector, to solve
The problems mentioned above in the background art.The crossroad signal machine control method based on radar detector realizes individually
The optimized control of crossroad access signal provides data supporting for traffic administration and control, it is possible to reduce traffic accident is delayed
Traffic congestion is solved, intersection efficiency is promoted.
To achieve the above object, the present invention provides the following technical solutions：
A kind of crossroad signal machine control method based on radar detector, the equipment used in this method includes thunder
Up to wagon detector, data apparatus for acquiring and storing, Signal optimum processing server, signal instruction publisher server and signal
Lamp, signal connects in order between each equipment, and this method comprises the following steps：
(1) at crossing, each importer installs radar vehicle detector upwards, adjusts the angle of detection faces, determines detection zone
It is located on stop line with blind area critical line, radar vehicle detector is numbered according to clockwise direction, belonging to crossing
Section is numbered is bound with radar vehicle detector number；
(2) by radar vehicle detector, the lane traffic flow rate and track average speed of timing acquiring detector segments are joined
Number data, the supplemental characteristic pass Signal optimum processing server back, and be standardized in real time through data apparatus for acquiring and storing
Data filtering processing and storage；
(3) traffic information for extracting Signal optimum processing server, is based on lane traffic flow rate and track average speed number
According to, calculating detector segments average traffic current density parameter, while being based on intersection average traffic current density-signal period relationship mould
Type calculates the intersection signal period；
(4) according to the traffic flow rate in each import direction in crossing section and average traffic flow density parameter, structure single-point letter
Number machine system optimizing control model, the Optimal Signals that polymerization calculates each import direction control split；
(5) split is controlled according to the Optimal Signals in import direction, when calculating the green light of each import direction signal timing dial
Between, yellow time and red time, form the signal timing plan instruction of next signal period；
(6) signal instruction publisher server, call instruction database interface service is utilized to control the signal in next period
Plan command is sent to signal lamp, after this period of signal lamp control program, is immediately performed down a set of signal timing plan, into
Row traffic dynamic induces.
Preferably, the traffic current density algorithm structure based on radar vehicle detector, traffic current density-signal period relationship
Structure, crossroad semaphore system optimizing control model construction.
Preferably, the traffic current density algorithm structure based on radar vehicle detector includes road-section average traffic flow rate
It calculates, 3 parts of road average-speed and road-section average traffic current density, structure specifically comprises the following steps；
(31) each lane traffic flow rate of timing acquiring detections of radar section and track average speed parameter, timing acquiring week
Time phase is 1 minute；
(32) statistics calculates each road-section average traffic flow rate of detections of radar sectionAnd road average-speed
(33) road-section average traffic current density is calculated
Preferably, the traffic current density-signal period relationship structure, including intersection average traffic current density K and friendship
Two key algorithms of prong signal period C.
Preferably, the crossroad semaphore system optimizing control model construction, including step is calculated as follows：(51) it counts
Calculate the average traffic flow rate in thing import directionWith the average traffic current density in thing import direction
(52) the average traffic flow rate in north and south import direction is calculatedWith the average traffic current density in north and south import direction
(53) the optimization control target signal function based on feedback control is established
(54) Dynamic Traffic Flow variable density model is established
(55) determine that optimize the signal timing dial time calculates the green of east-west direction based on the split in thing import direction
The lamp time.
Preferably, the road-section average traffic flow rate of step (32)Pass through formulaIt is calculated, wherein n
For place track, N is the track total number in section, qnFor the lane traffic flow rate (unit in the n-th track：/ hour/track)；
Road average-speedPass throughIt is calculated, wherein n is place track, and N is that the track in section is total
Number, vnFor the track average speed (unit in the n-th track：Thousand ms/h)；
The road-section average traffic current density of step (33)Pass through formulaIt is calculated.
Preferably, intersection average traffic current density K passes through formulaIt is calculated, wherein m is to intersect
Some import of mouth detects section, and M is the entrance ingress total number of intersection,For the section of m-th of intersection entrance ingress
Average traffic current density (unit：/ km/track)；
The intersection signal period, C passed through formula
It is calculated, wherein signal period C units are the second.
Preferably, step (51)WhereinFor the road-section average traffic flow rate in western import direction,For the road-section average traffic flow rate in eastern import direction；
WhereinFor the road-section average traffic current density in western import direction,For western import direction
Road-section average traffic current density；
Step (52)WhereinFor the road-section average traffic flow rate in northing mouth direction,For southing
The road-section average traffic flow rate in mouth direction；
WhereinFor the road-section average traffic current density in northing mouth direction,For southing mouth direction
Road-section average traffic current density；
The w of step (53)>0, K (t) is the intersection average traffic current density of some t moment,For the intersection of t moment
The derivative of mouth average traffic current density；
It solves equation and K (t)=K (0) e can be obtained-ωt, the explanation of objective control function is intersected after being adjusted by feedback control
The average traffic current density of mouth is increasingly intended to be 0 over time, i.e. the vehicle of intersection is fewer and fewer, so can
To improve traffic traffic efficiency to greatest extent, traffic congestion is reduced；
The L of step (54) is the length (unit in detection interval section：Km), r13For the split of east-west direction, Δ t determines
Position is the unlimited short time；
In conjunction with the object function of (53), solvable equation obtains the split of east-west direction,
The east-west direction green time G of step (55)13=C × r13, east-west direction red time R13=C-G13- Y, Y are indicated
Yellow time.
Preferably, the step (55) concurrently sets east-west direction green time G13Threshold value, 10≤G13≤C-10。
Compared with prior art, the beneficial effects of the invention are as follows：The present invention uses the real-time detection technique of radar vehicle, is based on
Traffic flow rate and average speed parameter accurately acquire the real-time traffic states of crossroad, formulate and optimize signal control
Scheme processed provides Real-time Decision and emergency processing information for traffic administration and control, can promote the fortune of intersection traffic
Line efficiency and service level.
Description of the drawings
Fig. 1 is the work flow diagram of the present invention；
Fig. 2 is system equipment scheme of installation used in Fig. 1；
Fig. 3 is system equipment connection diagram used in Fig. 1；
Fig. 4 is the optimization control target signal function effect diagram the present invention is based on feedback control.
In figure：1 radar vehicle detector, 2 data apparatus for acquiring and storing, 3 Signal optimum processing servers, 4 signal instructions
Publisher server, 5 signal lamps.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
~4 are please referred to Fig.1, the present invention provides a kind of technical solution：
A kind of crossroad signal machine control method based on radar detector, the equipment used in this method includes thunder
Up to wagon detector 1, data apparatus for acquiring and storing 2, (single-point) Signal optimum processing server 3, signal instruction publisher server
With signal lamp 5, data apparatus for acquiring and storing 2 and radar vehicle detector 1 are by being then fitted into intersection together with cable connection
On mouthful monitoring frame, signal connects in order between each equipment, and this method includes following step：
S1, in intersection, each importer installs radar vehicle detector 1 upwards, adjusts the angle of detection faces, determines inspection
It surveys area and blind area critical line is located on stop line, radar vehicle detector 1 is numbered according to clockwise direction, to crossing institute
The section number of category is bound with the number of radar vehicle detector 1；
S1.1, intersection type there are many, common are five forks in the road, crossroad, T-type crossing, this system is applicable in
In the crossroad that 4 into 4 go out, other kinds of intersection can change utilization；
The road section length L ranges that S1.2, radar can detect are 20 meters -140 meters, in 20 meters are blind areas before installation site,
It can't detect the multidate information of vehicle in blind area, therefore the installation site of intersection radar equipment is extremely important, determine road to be measured
Duan Hou, will install equipment on monitoring frame of the section side to be measured up over intersection, and the detector face of equipment detects section
Center, equipment scheme of installation such as Fig. 2 of general crossroad.
S2, radar vehicle detector 1, lane traffic flow rate and track average speed the parameter letter of timing acquiring detector segments
Breath, the supplemental characteristic pass Signal optimum processing server 3 back and carry out data storage in real time through data apparatus for acquiring and storing 2,
Timing acquiring cycle time is 1 minute；
S3 utilizes the traffic parameter information, calculates road-section average traffic current density：
The data format of radar equipment real-time report is (t, n, q, v), and t indicates to call time, track where n is indicated, q tables
Show that traffic flow rate data, v indicate flow speeds data, the unit of (t, n, q, v) is respectively second, 1 ,/hour/track and thousand
M/h.
Assuming that sample data set be represented by S=(t, 1, q1,v1),(t,2,q2,v2),...,(t,n,qn,vn), statistics
Road-section average traffic flow rate to be measured in time(unit：/ hour/track), road average-speed(unit：Km/small
When), road-section average traffic current density to be measured(unit：/ km/track), then
In above-mentioned formula：N is place track；N is the track total number in section；qnFor the traffic flow rate in the n-th track；vnFor
The average speed in the n-th track.
S4, integrative design intersection period C is calculated
The integrative design intersection period is that the various light colors of signal lamp show the primary required time in turn, is indicated with C, unit
It is the second；
The present invention is to calculate the signal period based on traffic current density-signal period relational model, including intersection is flat
Equal traffic current density and 2 step of intersection signal period calculate；
K is intersection average traffic current density；
M is that some import of intersection detects section；
M is the entrance ingress total number of intersection；
For the road-section average traffic current density of m-th of intersection entrance ingress；
Then, according to intersection average traffic current density K, the intersection signal period is calculated, method is obtained with formula (5).
S5, integrative design intersection split is calculated based on feedback control model
Signal control algolithm based on feedback control, target are exactly the adjusting control by signal, realize the flat of intersection
Equal traffic current density is smaller and smaller, reduces queuing number as much as possible and passes through the dynamic of control function so wanting objective function
Change to realize expected effect.
S5.3, feedback control object function is defined：
w>0, it is variable parameter；
K (t) is the intersection average traffic current density of some t moment；
For the derivative of the intersection average traffic current density of t moment；
It is available to solve equation (6)
K (t)=K (0) e-ωt (7)
The explanation of objective control function is after being adjusted by feedback control, and the average traffic current density of intersection is with the time
Passage be increasingly intended to be 0, i.e. the vehicle of intersection is fewer and fewer, it is possible to greatest extent improve traffic pass through effect
Rate reduces traffic congestion, effect diagram such as Fig. 4.
It calculates signal and controls split
In conjunction with dynamic traffic rate variable density process, the derivation process of K (t) is established,
L is the length (unit in detection interval section：Km)；
r13For the split of east-west direction；
ΔtIt is positioned as the limit short time；
Using equation (4), (6) and (8), solvable equation obtains the split of east-west direction,
C, which is determined, optimizes the signal timing dial time
Based on the split in thing import direction, the green time of east-west direction is calculated, can obtain the signal control of optimization
Scheme processed.
G13=C × r13 (10)
R13=C-G13-Y13 (11)
G13For east-west direction green time；
R13For east-west direction red time；
Y13For the yellow time of east-west direction；
Meanwhile setting east-west direction green time G13Threshold value, guarantee procedure execute.
10≤G13≤C-10 (12)
S6, entering signal instruct publisher server 4, and by calling database interface service, the signal in equipment 3 is controlled
Timing parameter is sent to signal lamp 5, is induced into Mobile state crossing traffic by signal lamp.
The present invention is sufficiently used the traffic flow rate of radar vehicle detector 1 and car speed parameter carries out data mining
Analysis, constructs the integrative design intersection model algorithm based on feedback control, realizes single crossroad access signal
Optimized control provides data supporting for traffic administration and control, it is possible to reduce traffic congestion is alleviated in traffic accident, is promoted and is handed over
Prong traffic efficiency.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of crossroad signal machine control method based on radar detector, the equipment used in this method includes radar
Wagon detector, data apparatus for acquiring and storing, Signal optimum processing server, signal instruction publisher server and signal lamp,
Signal connects in order between each equipment, it is characterised in that：This method comprises the following steps：
(1) at crossing, each importer installs radar vehicle detector upwards, adjusts the angle of detection faces, determines detection zone and blind
Area's critical line is located on stop line, radar vehicle detector is numbered according to clockwise direction, to the section belonging to crossing
Number is bound with radar vehicle detector number；
(2) pass through radar vehicle detector, the lane traffic flow rate and track average speed parameter number of timing acquiring detector segments
According to the supplemental characteristic passes Signal optimum processing server back, and be standardized data in real time through data apparatus for acquiring and storing
Filtration treatment and storage；
(3) traffic information for extracting Signal optimum processing server is based on lane traffic flow rate and track average speed data, meter
Detector segments average traffic current density parameter is calculated, while being based on intersection average traffic current density-signal period relational model meter
Calculate the intersection signal period；
(4) according to the traffic flow rate in each import direction in crossing section and average traffic flow density parameter, four crossway message is built
Number machine system optimizing control model, the Optimal Signals that polymerization calculates each import direction control split；
(5) split is controlled according to the Optimal Signals in import direction, calculates green time, the Huang of each import direction signal timing dial
Lamp time and red time form the signal timing plan instruction of next signal period；
(6) signal instruction publisher server, call instruction database interface service, by the signal timing plan in next period are utilized
It instructs and is sent to signal lamp, after this period of signal lamp control program, be immediately performed down a set of signal timing plan, handed over
Logical dynamic induces.
2. a kind of crossroad signal machine control method based on radar detector according to claim 1, feature exist
In：Traffic current density algorithm structure based on radar vehicle detector, traffic current density-signal period relationship structure, four crossway
Mouth semaphore system optimizing control model construction.
3. a kind of crossroad signal machine control method based on radar detector according to claim 2, feature exist
In：The traffic current density algorithm structure based on radar vehicle detector includes that road-section average traffic flow rate calculates, section is put down
Equal 3 parts of speed and road-section average traffic current density, structure specifically comprise the following steps；
(31) each lane traffic flow rate of timing acquiring detections of radar section and track average speed parameter, when the timing acquiring period
Between be 1 minute；
(32) statistics calculates each road-section average traffic flow rate of detections of radar sectionAnd road average-speed
(33) road-section average traffic current density is calculated
4. a kind of crossroad signal machine control method based on radar detector according to claim 2, feature exist
In：The traffic current density-signal period relationship structure, including intersection average traffic current density K and intersection signal period C
Two key algorithms.
5. a kind of crossroad signal machine control method based on radar detector according to claim 2, feature exist
In：The single point signals machine system optimizing control model construction, including step is calculated as follows：
(51) the average traffic flow rate in thing import direction is calculatedWith the average traffic current density in thing import direction
(52) the average traffic flow rate in north and south import direction is calculatedWith the average traffic current density in north and south import direction
(53) the optimization control target signal function based on feedback control is established
(54) Dynamic Traffic Flow variable density model is established
(55) it determines and optimizes the signal timing dial time, based on the split in thing import direction, when calculating the green light of east-west direction
Between.
6. a kind of crossroad signal machine control method based on radar detector according to claim 3, feature exist
In：
The road-section average traffic flow rate of step (32)Pass through formulaIt is calculated, wherein n is place track, N
For the track total number in section, qnFor the lane traffic flow rate (unit in the n-th track：/ hour/track)；
Road average-speedPass throughIt being calculated, wherein n is place track, and N is the track total number in section,
vnFor the track average speed (unit in the n-th track：Thousand ms/h)；
The road-section average traffic current density of step (33)Pass through formulaIt is calculated.
7. a kind of crossroad signal machine control method based on radar detector according to claim 4, feature exist
In：Intersection average traffic current density K passes through formulaIt is calculated, wherein m is some import of intersection
Section is detected, M is the entrance ingress total number of intersection,Road-section average traffic flow for m-th of intersection entrance ingress is close
Spend (unit：/ km/track)；
The intersection signal period, C passed through formula
It is calculated, wherein signal period C units are the second.
8. a kind of crossroad signal machine control method based on radar detector according to claim 5, feature exist
In：
Step (51)WhereinFor the road-section average traffic flow rate in western import direction,For eastern importer
To road-section average traffic flow rate；
WhereinFor the road-section average traffic current density in western import direction,For the section in western import direction
Average traffic current density；
Step (52)WhereinFor the road-section average traffic flow rate in northing mouth direction,For southern importer
To road-section average traffic flow rate；
WhereinFor the road-section average traffic current density in northing mouth direction,For the section in southing mouth direction
Average traffic current density；
The w of step (53)>0, K (t) is the intersection average traffic current density of some t moment,It is flat for the intersection of t moment
The derivative of equal traffic current density；
It solves equation and K (t)=K (0) e can be obtained-ωt, the explanation of objective control function is after being adjusted by feedback control, intersection
Average traffic current density is increasingly intended to be 0 over time, i.e. the vehicle of intersection is fewer and fewer, it is possible to most
The raising traffic traffic efficiency of limits reduces traffic congestion；
The L of step (54) is the length (unit in detection interval section：Km), r13For the split of east-west direction, Δ t is positioned as
The unlimited short time；
In conjunction with the object function of (53), solvable equation obtains the split of east-west direction,
The east-west direction green time G of step (55)13=C × r13, east-west direction red time R13=C-G13- Y, Y indicate amber light
Time.
9. a kind of crossroad signal machine control method based on radar detector according to claim 8, feature exist
In：The step (55) concurrently sets east-west direction green time G13Threshold value, 10≤G13≤C-10。
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| CN111489555A (en) * | 2020-05-14 | 2020-08-04 | 武汉理工大学 | Traffic running state prediction method, device and system |
| CN115019540A (en) * | 2021-12-30 | 2022-09-06 | 滁州职业技术学院 | Parking guidance projection display system for urban parking lot |
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