CN108447263B - Signal control evaluation method for main line coordinated control intersection based on floating car - Google Patents
Signal control evaluation method for main line coordinated control intersection based on floating car Download PDFInfo
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Abstract
The invention provides a signal control evaluation method for a floating vehicle-based trunk line coordination control intersection. The method comprises the following steps: acquiring longitude and latitude coordinates of a trunk line coordination control intersection, satellite positioning electronic map data and track data of each floating car; the method comprises the steps of carrying out sectional processing on travel distances from an initial position to a final position of a floating car, calculating the average speed of track points of the floating car in each section of distance in a time-sharing manner, drawing a speed space-time distribution diagram of the floating car, and evaluating the congestion position and time of a trunk line coordination control intersection according to the speed space-time distribution diagram; and calculating an evaluation index of the trunk line coordination control intersection according to the track data of the floating vehicle, and further evaluating the signal control effect of the trunk line coordination control intersection. Compared with manual research, the method has the advantages of saving manpower and material resources, intuitively judges the frequent congestion time period, the congestion distance and the dissipation time of the intersection under the trunk line coordination control through the speed space-time distribution diagram, and has practicability and good application prospect.
Description
Technical Field
The invention relates to the technical field of traffic control, in particular to a signal control evaluation method for a floating car-based trunk line coordinated control intersection.
Background
With the rapid development of the floating car technology, the intelligent transportation field is increasingly supported and perfected by the data of the floating car which cannot be driven. The floating car technology has the characteristics of accuracy, instantaneity, stability and the like, and is widely applied to various aspects of signal control, flow monitoring, congestion detection and the like of urban traffic. However, the evaluation method of the trunk line coordination control intersection based on the floating car is not mature yet
At present, in the method for evaluating a trunk coordination control intersection in the prior art, indexes such as the number of stops, total stop time and average speed are mainly used, and other indexes such as delay time and flow are not considered. And the delay time can reflect the trunk traffic state and the intersection coordination control condition better than the total parking time.
Disclosure of Invention
The embodiment of the invention provides a signal control evaluation method for a floating car-based trunk line coordination control intersection, which overcomes the defects of the prior art.
A signal control evaluation method for a floating car-based trunk line coordination control intersection comprises the following steps:
acquiring longitude and latitude coordinates and satellite positioning electronic map data of the trunk line coordination control intersection and track data of each floating vehicle positioned in the service range of the trunk line coordination control intersection;
the travel distance from the initial position to the end position of the floating car is processed in a segmented mode, the average speed of track points of the floating car in each segment of distance is calculated in a time-sharing mode, a speed space-time distribution diagram of the floating car is drawn, and the congestion position and time of the trunk line coordination control intersection are evaluated according to the speed space-time distribution diagram of the floating car;
and calculating an evaluation index of the trunk line coordination control intersection according to the track data of each floating vehicle, and evaluating the signal control effect of the trunk line coordination control intersection according to the evaluation index.
Further, the acquiring longitude and latitude coordinates and satellite positioning electronic map data of the trunk line coordination control intersection and track data of each floating vehicle located in the service range of the trunk line coordination control intersection includes:
acquiring longitude and latitude coordinates and a satellite communication electronic map of a main line coordination control intersection of a WGS-84 coordinate system, and acquiring track data of a floating vehicle of at least 7 working days of the WGS-84 coordinate system, wherein the transmission frequency of the track data of the floating vehicle is not lower than 0.33 HZ;
screening the track data of the floating car, and specifically comprising the following steps:
(1) determining the total latitude and longitude range of the trunk line coordination control intersection, and screening track data of the floating vehicles falling in the range;
(2) screening track data of which the difference between the direction of the floating car and the direction of a trunk road of the trunk line coordination control intersection is +/-45 degrees, and removing the track data which exceed the direction range;
(3) track data of the floating car with the GPS speed exceeding the upper limit of the limiting speed of the trunk road at the intersection coordinated with the trunk line by more than 10 percent are removed;
(4) satellite communication electronic map matching is carried out on track data of the floating car, the position distance of a track point at the trunk line coordination control intersection is obtained, and data of which the position deviates from the trunk line set distance range are removed according to the position distance of the track point at the trunk line coordination control intersection.
Further, the satellite communication electronic map matching is carried out on the track data of the floating car to obtain the position distance of the track point at the trunk line coordination control intersection, and the method comprises the following steps:
determining the road section matched with each track point and the position in the road section according to the satellite communication electronic map, adding the lengths of the passed road sections from the starting point of the coordinated intersection to the starting position of the road section matched with the track point, adding the lengths of the road sections matched with the track point from the starting position of the road section matched with the track point to the matching position of the track point to obtain the position distance of the track point at the trunk line coordinated control intersection, and storing a distance variable as a new variable in track data.
Further, the step of carrying out segmentation processing on the travel distance from the initial position to the final position of the floating car, calculating the average speed of the track points of the floating car in each segment of distance in a time-sharing manner, and drawing a speed space-time distribution diagram of the floating car comprises the following steps:
segmenting the travel distance from the initial position to the end position of the trunk line coordination control intersection according to an interval of 10m, traversing all screened track points, classifying according to two dimensions of time and distance, calculating the average speed of the floating cars in the same time in the segments to obtain a speed space-time matrix, drawing a speed space-time distribution diagram by using drawing software according to the speed space-time matrix, wherein the row elements of the speed space-time matrix are speeds at all positions of the coordination intersection in the same time, the row elements are speeds at the same position of the coordination intersection in different times, the abscissa of the speed space-time distribution diagram represents the time and the ordinate represents the distance, each row represents the variation trend of the speeds at all positions of the coordination intersection in the same time, each row represents the variation trend of the speeds at the same position of the coordination intersection in different times, and the deeper color of the speed distribution diagram, lighter colors represent greater speed.
Further, the calculating the evaluation index of the trunk line coordination control intersection according to the track data of each floating vehicle includes:
(1) calculating that each floating car does not stop at t momentAverage travel time T spent by vehicles passing through main line coordination control intersectiont；
(2) Calculating the average travel time T spent by each floating vehicle passing through the trunk line coordination control intersection at the moment TTotal t；
(3) According to formula Dt＝TTotal t-TtCalculating the average delay time D from the starting point to the end point of each floating vehicle passing through the trunk line coordination control intersection at the moment tt；
(4) Calculating the number of times n of parking at the moment tt；
(5) Calculating the flow V of the ith trunk line coordination control intersection at the time tit；
(6) According to the formula
And calculating the evaluation index of the trunk line coordination control intersection.
I (alpha, beta, t), alpha and beta are human parameters for regulation and are used for controlling the proportion of variables such as delay time, parking times and the like in indexes.
Further, the flow V at the t moment of the ith trunk line coordination control intersection is calculateditThe method comprises the following steps:
virtual coordinate range areas are respectively arranged at the upstream and the downstream of a main road of the main road coordination control intersection, and the length of the coordinate range area is not less than L ═ Deltat.VmaxWherein, Delta t is the track point time interval of the floating car, VmaxThe maximum speed of the floating car;
if the track point of the floating car firstly passes through the upstream coordinate range area and then passes through the downstream coordinate range area at the time t, calculating the primary flow of the current trunk coordination control intersection at the time t;
and traversing the track data of all the floating vehicles to obtain the flow of all the trunk lines at all the time at the intersection under the coordination control.
Further, the evaluating the signal control effect of the trunk line coordination control intersection according to the evaluation index includes:
and comparing the calculated evaluation index I (alpha, beta, t) with a preset evaluation index threshold range, and obtaining the signal control evaluation result of the trunk line coordination control intersection according to the comparison result, wherein the signal control evaluation result is classified according to different values of the delay ratio and the parking rate of the trunk line coordination control intersection.
According to the technical scheme provided by the embodiment of the invention, compared with manual research, the signal control evaluation method for the trunk line coordination control intersection based on the floating car has the advantages of saving manpower and material resources, intuitively judging the frequent congestion time period, the congestion distance and the dissipation time of the trunk line coordination control intersection through the speed spatiotemporal distribution map, and having practicability and good application prospect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a processing flow chart of a signal control evaluation method for a floating car-based trunk coordination control intersection according to an embodiment of the present invention;
fig. 2 is a time-space distribution diagram of speed at a trunk coordination control intersection according to an embodiment of the present invention.
Detailed Description
For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking several specific embodiments as examples in conjunction with the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
According to the goal of carrying out refined operation on the indexes such as delay and the like by using the floating car and evaluating the intersection of the trunk line coordination control, the embodiment of the invention carries out refined operation on the indexes such as delay and the like by using the floating car and provides a new intersection evaluation method for the trunk line coordination control. The method utilizes a big data processing algorithm to draw a time-space distribution diagram of the speed of the floating car at the intersection under the coordination control of the main line in one day, and calculates evaluation indexes.
The processing flow of the signal control evaluation method for the floating vehicle-based trunk coordination control intersection is shown in fig. 1, and comprises the following processing steps:
step S1: and (4) preparing data.
And selecting a WGS-84 coordinate system by the longitude and latitude coordinates of each intersection in the trunk line coordination control intersections and the GPS electronic map containing the trunk line coordination control intersections. In order to reduce errors, the high frequency floating car data transmission frequency should not be lower than 0.33HZ (3s transmission once), and track data of at least 7 working days should be selected in time.
Step S2: and screening and processing floating car data.
The floating car data is generally a GCJ-02 coordinate system, so that a coordinate transformation method is needed to convert the GCJ-02 coordinate system into a WGS-84 coordinate system.
Data screening requires the following steps:
(1) determining the total latitude and longitude range of the trunk line coordination control intersection, and screening out the track data falling in the range;
(2) because the trunk line coordination control intersection is evaluated, only continuous straight data need to be reserved, and steering data are removed, so that track data with a difference of +/-45 degrees between the direction of the floating car and the direction of the trunk line are screened, and tracks beyond the direction range are removed;
(3) eliminating data with the GPS speed exceeding the upper limit of the main road limit speed by more than 10%;
(4) and carrying out map matching on the track data to obtain the position distance of the track point at the trunk line coordination control intersection, and rejecting data of which the position deviates from the trunk line set distance range according to the position distance of the track point at the trunk line coordination control intersection.
The method for calculating the position distance of the track point at the trunk line coordination control intersection comprises the following steps: (1) determining the road section matched with each track point and the position in the road section through map matching; (2) and adding the lengths of the passed road sections, and adding the lengths from the road section initial position matched with the track point to the track point matching position to obtain the position distance of the track point at the trunk line coordination control intersection, and storing the distance variable as a new variable in track data.
Step S3: and drawing a speed space-time distribution diagram of the trunk line coordination control intersection.
And (3) carrying out sectional processing on the travel distance from the starting position to the end position of the trunk line coordination control intersection according to the interval of 10 m. Traversing all the screened track points, classifying according to two dimensions of time and distance, and finally calculating the average speed of the floating car within the same distance and the same time to obtain a speed space-time matrix. And drawing a speed space-time distribution diagram by using a drawing function of MATLAB software according to the speed space-time matrix. Fig. 2 is a speed spatio-temporal distribution diagram of a trunk coordination control intersection according to an embodiment of the present invention, where an abscissa of the speed spatio-temporal distribution diagram represents time, and an ordinate represents distance, each column represents a variation trend of speeds at positions of the coordination intersection within the same time, each row represents a variation trend of speeds at the same position of the coordination intersection within different times, and a darker color represents a smaller speed, and a lighter color represents a larger speed. And the position, time and congestion distance of the congestion at the working day of the intersection are intuitively evaluated by the speed space-time distribution map.
Step S4: and calculating the evaluation index of the trunk line coordination control intersection.
The method comprises the following steps:
(1) calculating the average travel time T spent by each vehicle passing through the trunk line coordination control intersection without stopping at the time Tt；
(2) Calculating the average travel time T spent by each vehicle passing through the trunk line coordination control intersection at the time TTotal t；
(3) According to formula Dt＝TTotal t-TtCalculating the average delay time D from the starting point to the end point of each vehicle passing through the trunk line coordination control intersection at the time tt；
(4) Calculating the number of times n of parking at the moment tt；
(5) Calculate the firstFlow V at t moment of i trunk line coordinated control intersectionit；
Virtual coordinate range areas are respectively arranged at the upstream and the downstream of a main road of the main road coordination control intersection, and the length of the coordinate range area is not less than L ═ Deltat.VmaxWherein, Delta t is the track point time interval of the floating car, VmaxIn order to maximize the speed of the floating car,
if the track point of the floating car firstly passes through the upstream coordinate range area and then passes through the downstream coordinate range area at the time t, calculating the primary flow of the current trunk coordination control intersection at the time t;
and traversing the track data of all the floating vehicles to obtain the flow of all the trunk lines at all the time at the intersection under the coordination control.
(6) According to the formula
And calculating the evaluation index of the trunk line coordination control intersection.
I (alpha, beta, t), alpha and beta are adjustable parameters and are used for controlling the proportion of variables such as delay time, parking times and the like in the index.
Step S5: and outputting evaluation indexes and giving optimization suggestions.
(1) And outputting the evaluation index. Since the calculated evaluation index I (α, β, t) is a numerical value, it is not suitable for observation and decision-making. Therefore, the calculated evaluation index I (α, β, t) is compared with a preset evaluation index threshold range, and a signalized evaluation result of the intersection of the trunk coordination control is obtained based on the comparison result, the signalized evaluation result being classified based on different values of the delay ratio and the stop rate at the intersection of the trunk coordination control.
The evaluation results included the following five types:
the first type shows that the signal control effect of the trunk line coordination control intersection is very good, the delay ratio and the parking rate are very low, and the green wave effect can be obviously sensed;
the second type shows that the signal control effect of the trunk line coordination control intersection is good, the delay ratio and the parking rate are low, the green wave effect can be sensed, and parking can be performed in the middle;
the third type shows that the signal control effect of the trunk line coordination control intersection is medium, a certain delay ratio and a certain parking rate exist, the green wave effect is general, and the road is smoother than the common road;
the fourth type shows that the signal control effect of the trunk line coordination control intersection is poor, the delay ratio and the parking rate are high, and the green wave effect is avoided;
the fifth type shows that the signal control effect of the trunk line coordination control intersection is poor, the delay ratio and the parking rate are high, and the normal traffic is blocked during signal timing.
(2) And (5) giving optimization suggestions. The algorithm can intuitively judge the frequent congestion time period, the congestion distance and the dissipation time of the trunk line coordination control intersection through the speed space-time distribution map. Combining the output evaluation index, and if the delay time is longer, suggesting to increase the green wave time; and if the number of parking times is too large, the optimization of the phase setting of the intersection is recommended, and the like.
In conclusion, compared with manual research, the signal control evaluation method for the trunk line coordination control intersection based on the floating car has the advantages of saving manpower and material resources, intuitively judging the frequent congestion time period, the congestion distance and the dissipation time of the trunk line coordination control intersection through the speed space-time distribution map, and having practicability and good application prospect.
The evaluation index input variables in the method provided by the embodiment of the invention are all from satellite map electronic data such as GPS, so that the method also has good stability and accuracy. The evaluation algorithm has adjustable parameters to control the variable weight, so that the evaluation algorithm also has certain flexibility.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A signal control evaluation method for a floating car-based trunk line coordination control intersection is characterized by comprising the following steps:
acquiring longitude and latitude coordinates and satellite positioning electronic map data of the trunk line coordination control intersection and track data of each floating vehicle positioned in the service range of the trunk line coordination control intersection;
the travel distance from the initial position to the end position of the floating car is processed in a segmented mode, the average speed of track points of the floating car in each segment of distance is calculated in a time-sharing mode, a speed space-time distribution diagram of the floating car is drawn, and the congestion position and time of the trunk line coordination control intersection are evaluated according to the speed space-time distribution diagram of the floating car;
calculating an evaluation index of the trunk line coordination control intersection according to the track data of each floating vehicle, and evaluating the signal control effect of the trunk line coordination control intersection according to the evaluation index; the method specifically comprises the following steps:
(1) calculating the average travel time T spent by each floating vehicle passing through the trunk line coordination control intersection without stopping at the time Tt；
(2) Calculating the average travel time T spent by each floating vehicle passing through the trunk line coordination control intersection at the moment TTotal t；
(3) According to formula Dt＝TTotal t-TtCalculating the average delay time D from the starting point to the end point of each floating vehicle passing through the trunk line coordination control intersection at the moment tt；
(4) Calculating the number of times n of parking at the moment tt；
(5) Calculate the firstFlow V at t moment of i trunk line coordinated control intersectionit；
(6) According to the formula
Calculating evaluation indexes of the trunk line coordination control intersection;
i (alpha, beta, t), alpha and beta are human regulating parameters for controlling the proportion of delay time and parking times in the index;
calculating the flow V of the ith trunk line coordination control intersection at the time titThe method comprises the following steps:
virtual coordinate range areas are respectively arranged at the upstream and the downstream of a main road of the main road coordination control intersection, and the length of the coordinate range area is not less than L ═ Deltat.VmaxWherein, Delta t is the track point time interval of the floating car, VmaxThe maximum speed of the floating car;
if the track point of the floating car firstly passes through the upstream coordinate range area and then passes through the downstream coordinate range area at the time t, calculating the primary flow of the current trunk coordination control intersection at the time t;
and traversing the track data of all the floating vehicles to obtain the flow of all the trunk lines at all the time at the intersection under the coordination control.
2. The method according to claim 1, wherein the acquiring longitude and latitude coordinates and satellite positioning electronic map data of the trunk coordination control intersection and track data of each floating vehicle located in a service range of the trunk coordination control intersection comprises:
acquiring longitude and latitude coordinates and a satellite communication electronic map of a main line coordination control intersection of a WGS-84 coordinate system, and acquiring track data of a floating vehicle of at least 7 working days of the WGS-84 coordinate system, wherein the transmission frequency of the track data of the floating vehicle is not lower than 0.33 HZ;
screening the track data of the floating car, and specifically comprising the following steps:
(1) determining the total latitude and longitude range of the trunk line coordination control intersection, and screening track data of the floating vehicles falling in the range;
(2) screening track data of which the difference between the direction of the floating car and the direction of a trunk road of the trunk line coordination control intersection is +/-45 degrees, and removing the track data which exceed the direction range;
(3) track data of the floating car with the GPS speed exceeding the upper limit of the limiting speed of the trunk road at the intersection coordinated with the trunk line by more than 10 percent are removed;
(4) satellite communication electronic map matching is carried out on track data of the floating car, the position distance of a track point at the trunk line coordination control intersection is obtained, and data of which the position deviates from the trunk line set distance range are removed according to the position distance of the track point at the trunk line coordination control intersection.
3. The method according to claim 2, wherein the step of performing satellite communication electronic map matching on the track data of the floating car to obtain the position distance of the track point at the intersection of the trunk line coordination control comprises the following steps:
determining the road section matched with each track point and the position in the road section according to the satellite communication electronic map, adding the lengths of the passed road sections from the starting point of the coordinated intersection to the starting position of the road section matched with the track point, adding the lengths of the road sections matched with the track point from the starting position of the road section matched with the track point to the matching position of the track point to obtain the position distance of the track point at the trunk line coordinated control intersection, and storing a distance variable as a new variable in track data.
4. The method according to claim 3, wherein the step of carrying out segmentation processing on the travel distance from the starting position to the end position of the floating car, calculating the average speed of the track points of the floating car in each segment of distance in a time-sharing manner, and drawing the speed space-time distribution diagram of the floating car comprises the following steps:
segmenting the travel distance from the initial position to the end position of the trunk line coordination control intersection according to an interval of 10m, traversing all screened track points, classifying according to two dimensions of time and distance, calculating the average speed of the floating cars in the same time in the segments to obtain a speed space-time matrix, drawing a speed space-time distribution diagram by using drawing software according to the speed space-time matrix, wherein the row elements of the speed space-time matrix are speeds at all positions of the coordination intersection in the same time, the row elements are speeds at the same position of the coordination intersection in different times, the abscissa of the speed space-time distribution diagram represents the time and the ordinate represents the distance, each row represents the variation trend of the speeds at all positions of the coordination intersection in the same time, each row represents the variation trend of the speeds at the same position of the coordination intersection in different times, and the deeper color of the speed distribution diagram, lighter colors represent greater speed.
5. The method according to claim 1, wherein the evaluating the effect of signal control at the trunk coordination control intersection according to the evaluation index comprises:
and comparing the calculated evaluation index I (alpha, beta, t) with a preset evaluation index threshold range, and obtaining the signal control evaluation result of the trunk line coordination control intersection according to the comparison result, wherein the signal control evaluation result is classified according to different values of the delay ratio and the parking rate of the trunk line coordination control intersection.
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| CN109493602A (en) * | 2018-11-27 | 2019-03-19 | 公安部交通管理科学研究所 | A kind of evaluation method, the device and system of Urban arterial road coordinate control benefit |
| CN109493621B (en) * | 2018-12-25 | 2020-03-27 | 华南理工大学 | Plotting method of space-time distance graph for displaying regional green wave coordination control effect |
| CN111462476A (en) * | 2019-01-22 | 2020-07-28 | 上海宝康电子控制工程有限公司 | Method for realizing green wave effect inspection and prediction based on neural network algorithm under TensorFlow framework |
| CN110459067B (en) * | 2019-08-27 | 2020-12-08 | 广东方纬科技有限公司 | Traffic green road signal coordination control evaluation method and system based on vehicle individuals |
| CN111127889B (en) * | 2019-12-24 | 2021-03-16 | 银江股份有限公司 | Continuous intersection collaborative optimization method based on traffic flow arrival time prediction |
| CN111192452B (en) * | 2019-12-27 | 2021-06-18 | 东软集团股份有限公司 | Stroke data segmentation method and device, storage medium and electronic equipment |
| CN112530178B (en) * | 2020-10-23 | 2022-10-25 | 连云港杰瑞电子有限公司 | Intersection signal control scheme evaluation method based on floating car positioning data |
| CN112767680B (en) * | 2020-11-30 | 2022-03-29 | 北方工业大学 | Green wave traffic evaluation method based on trajectory data |
| CN113053109B (en) * | 2020-12-23 | 2022-05-10 | 沈阳世纪高通科技有限公司 | Track generation method for green wave evaluation |
| CN113487862A (en) * | 2021-06-30 | 2021-10-08 | 阿波罗智联(北京)科技有限公司 | Green wave speed determination method and device, electronic equipment and storage medium |
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| CN106781504B (en) * | 2017-01-23 | 2019-03-12 | 东南大学 | A kind of main line parking analysis method based on Floating Car GPS data |
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