CN108510758B - Urban expressway entrance ramp signal control method based on video real-time information - Google Patents
Urban expressway entrance ramp signal control method based on video real-time information Download PDFInfo
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- CN108510758B CN108510758B CN201810505185.XA CN201810505185A CN108510758B CN 108510758 B CN108510758 B CN 108510758B CN 201810505185 A CN201810505185 A CN 201810505185A CN 108510758 B CN108510758 B CN 108510758B
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/075—Ramp control
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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
Abstract
The invention provides a city expressway entrance ramp signal control method based on video real-time information, which comprises the steps of obtaining entrance ramp real-time traffic flow data and ramp vehicle queuing length through a video detector arranged on a main line and positioned in an intersection area of an entrance ramp and the main line; and calculating the optimal regulation rate of the current entrance ramp according to a core control algorithm, and performing collaborative optimization on core parameters such as a video data acquisition period, an entrance ramp signal control period and the like according to an optimal control target so as to calculate an entrance ramp signal lamp period and a signal control scheme. The invention optimizes the signal control on the entrance ramp based on the video real-time traffic information, has faster response speed and shorter response time, can more effectively prevent the phenomenon of the reduction of the traffic capacity of the intersection area of the express way, avoids the generation of traffic jam and realizes the maximization of the traffic efficiency of the main line of the express way. The control method is easy to implement, and has wide application range and good application prospect.
Description
Technical Field
The invention belongs to the technical field of traffic control and intelligent traffic, and particularly relates to a city expressway entrance ramp signal control method based on video real-time information.
Background
With the rapid development of social economy, the urbanization process is accelerated continuously, the economic and cultural activities of urban residents are frequent day by day, the number of motor vehicles is increased rapidly, and the urban traffic demand is increased rapidly. However, the speed of urban expressway construction is far less than the speed of motor vehicles, the level of traffic management lags behind the increase of traffic demand, the existing demand cannot be met, and urban traffic congestion becomes one of the increasingly significant social problems. In the urban expressway ramp interweaving area, due to the fact that frequent vehicle lane changing behaviors exist, and the distance between the shunting area and the confluence area is too close, the urban expressway ramp interweaving area often becomes a sensitive area which is easy to excite traffic bottlenecks in the traffic peak period. The interleaving behavior has great influence on the traffic capacity of the interleaving area and causes a serious traffic capacity reduction phenomenon in traffic jam. Ramp control is one of the most common active traffic demand management strategies, and can effectively relieve the severity of traffic bottlenecks. Therefore, how to optimize signal control on the entrance ramp through video real-time traffic information can more effectively prevent the phenomenon of traffic capacity reduction in an intersection area of the expressway, avoid traffic congestion, maximize the traffic efficiency of an expressway main line, ensure convenient, efficient and safe operation of the expressway, and become the primary task in the expressway traffic management practice in China.
The most common traffic control technology for the congested highway section is the ramp control technology. The entrance ramp control is to make the traffic demand of the express way not exceed the capacity of the express way by adjusting the traffic volume entering the express way, thereby ensuring that the express way operates near the optimal state according to a certain performance index.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a city expressway entrance ramp signal control method based on video real-time information, overcomes the defect of traffic control of an existing expressway entrance ramp and a main line intersection area, optimizes signal control on the entrance ramp to avoid traffic jam generated at the downstream of the main line due to overhigh vehicle rate, can more effectively prevent the phenomenon of descending traffic capacity of the expressway intersection area, and realizes maximization of traffic efficiency of the expressway main line.
The technical scheme is as follows:
the city expressway entrance ramp signal control method based on the video real-time information comprises the following steps of:
(1) data acquisition: video detectors are arranged at the positions of signal lamps on the entrance ramps of the urban expressway, at the inlets of the entrance ramps and at the downstream of a junction area of the entrance ramps and the main line on the main line, and the traffic flow parameter information of a fixed period is extracted in real time through the arranged video detectors; the fixed period is in a value range of 2-10 seconds; the traffic flow parameter information comprises the traffic flow occupancy of a downstream area of a junction area of the entrance ramp and the main line, the traffic flow of the entrance ramp, the lane queuing length and the traffic flow throughput of entering the main line of the express way from the entrance ramp in each period;
(2) drawing a curve of the traffic flow and the traffic flow occupancy along with time change in the period before and after congestion generation according to historical traffic flow parameter information of the section of the urban expressway, determining an occupancy threshold value for maintaining the traffic capacity of the downstream main line traffic flow of the intersection area of the entrance ramp and the main line, and presetting an expected value of the occupancy expected value of the downstream main line traffic flow of the intersection area of the entrance ramp and the main line
In each control period, if the downstream main line traffic flow occupancy of the intersection area of the entrance ramp and the main line exceeds the expected main line traffic flow occupancy, reducing the entrance ramp regulation rate, otherwise, increasing the entrance ramp regulation rate; the entrance ramp regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period;
calculating the adjustment rate of the entrance ramp according to the traffic flow occupancy rate of the downstream area of the intersection area of the entrance ramp and the main line, which is obtained in real time in the step (1):
the entrance ramp regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period; r (k) is the entrance ramp regulation rate for the kth ramp control period; r (k-1) is the entrance ramp regulation rate of the kth ramp control period-1; kRIs a parameter having calibration properties; o isout(k-1) controlling the main line occupancy of the downstream of the intersection area of the inlet ramp and the main line in the period of the k-1 th ramp;
(3) calculating the real-time queuing length of the entrance ramp according to the traffic flow of the entrance ramp obtained in real time in the step (1) and the traffic throughput of the main line of the express way entering from the entrance ramp in each period, and judging whether the queuing length of the entrance ramp exceeds the queuing length critical value of the entrance ramp or not; if the queuing length of the entrance ramp exceeds the critical value of the queuing length of the entrance ramp, calculating the queuing control regulation rate of the entrance ramp according to the queuing length of the entrance ramp and the demand of the entrance ramp; otherwise, no adjustment is needed; the queuing control regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period;
the calculation process of the queuing control regulation rate of the entrance ramp is as follows:
(31) the calculation formula of the queuing length of the vehicles on the entrance ramp is as follows:
N(k)＝N(k-1)+Tk[qo in(k)-qo out(k)]
wherein, N (k) is the vehicle queuing length of the entrance ramp at the last detection time of the kth ramp control period; n (k-1) is the vehicle queuing length of the entrance ramp at the last detection moment of the k-1 th ramp control period; t iskA kth ramp control period; q. q.so in(k) Detecting and obtaining the traffic throughput entering the entrance ramp in the kth ramp control period by a video detector arranged at the position of a signal lamp on the entrance ramp; q. q.so out(k) Detecting the traffic throughput entering the main line of the express way from the entrance ramp in the kth ramp control period by a video detector arranged at the entrance of the entrance ramp;
(32) determining threshold value of queuing length of entrance ramp
NmaxThe maximum queuing length of the entrance ramp; and calculating the queuing control regulation rate of the entrance ramp:
wherein r' (k) is the queuing control regulation rate of the ramp in the kth ramp control period; r' (k-1) is the queuing control regulation rate of the ramp in the k-1 th ramp control period; kqIs a parameter having calibration properties; r'maxControlling the regulation rate for the maximum queuing of the entrance ramp; the queuing lengths of the vehicles on the entrance ramp are classified as follows: 0 to 0.6NmaxIn order to queue up for an acceptable range, (0.6-0.9) NmaxCan be held for queuingLonicera range, 0.9NmaxThe above queuing length is within an intolerable range;
(4) calculating the optimal regulation rate r of the current entrance rampo(k)：
ro(k)＝max{r(k),r’(k)}；
(5) Determining a time distribution scheme of the signal lamp according to the optimal ramp regulation rate obtained in the step (4), wherein the time distribution scheme comprises red lamp time, green lamp time, yellow lamp time and signal period Tk(ii) a The calculation formula is as follows:
Tgreen＝2s
TYellow colour＝1s
TRed wine＝Tk－TGreen－TYellow colour
Wherein, TGreen、TYellow colour、TRed wineRespectively setting green light, yellow light and red light time in the kth ramp control period;
(6) and (5) after the optimal control of the ramp vehicle passing rate at the entrance in the current ramp control period is completed, entering the next period, and repeating the processes from the step (2) to the step (5) according to the acquired traffic flow data to acquire the optimal adjustment rate of the ramp vehicle at the entrance in the next period and complete the optimal control of the ramp vehicle passing rate in the next period.
The method also comprises the following steps after the step (5): performing cooperative optimization on a data acquisition period and a ramp control period, performing video detection and signal control synchronously in the kth period, wherein the duration of the data acquisition period is the sum of the durations of all detection periods in the current ramp control period, and the value of the duration is equal to the duration of the current ramp control period;
Tk＝NkT＝Tck，Nkis an integer
Wherein, TckIs the kth data acquisition cycle; n is a radical ofkThe number of detection cycles in the kth ramp control cycle; t is video detectionA detection period of the device;
if the collected video information is processed for T time0If so, the time length of the data acquisition cycle corresponding to the kth cycle is still equal to the time length of the control cycle; the starting time of the data acquisition period is the ending time of the last detection period, and the difference between the starting time of the control period and the starting time of the data acquisition period is T0。
The entrance ramp is divided into an entrance ramp without an acceleration lane and an entrance ramp with an acceleration lane; laying video detectors according to the two entrance ramps; aiming at an entrance ramp of a non-acceleration lane, video detectors are respectively arranged at the downstream of a junction area of the entrance ramp and a main stream, at the position of a signal lamp on the entrance ramp and at the entrance of the entrance ramp; aiming at the entrance ramp with the acceleration lane, video detectors are respectively arranged at the downstream of the intersection area of the acceleration lane and the main stream of the entrance ramp, at the position of a signal lamp on the entrance ramp and at the entrance of the entrance ramp.
Has the advantages that: the method judges whether the traffic flow running state is supersaturated or not according to the occupation rate of the main line downstream road sections and the queuing length of the entrance ramps, automatically calculates the optimal regulation rate of the current entrance ramps through a control algorithm, optimizes signal control on the entrance ramps to avoid traffic jam generated at the main line downstream due to overhigh vehicle rate, overcomes the defects of slow response, control delay and the like of a system to traffic change caused by the traditional method of adopting an induction coil to collect traffic flow data for control, improves the response speed and the control effect of an entrance ramp control system, can more effectively prevent the phenomenon of traffic capacity reduction of an expressway intersection area, avoids the generation of traffic jam, and realizes the maximization of the traffic efficiency of the expressway main line.
Drawings
Fig. 1 is a flow chart of the city expressway entrance ramp signal control method based on video real-time information.
FIG. 2 is a diagram of the configuration of the supporting hardware for the coordinated control of the expressway entrance ramps; wherein, (a) is a matched hardware setting diagram of acceleration-free lane entrance ramp coordination control; (b) a set diagram of matched hardware for the coordinated control of the entrance ramp of the acceleration lane.
FIG. 3 is a schematic diagram illustrating a relationship between a video data detection period and a ramp control period according to the present invention; wherein, (a) is the condition that the video processing time can be ignored; (b) to consider the video processing time as T0The case (1).
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention aims to prevent local traffic jam in an intersection area of a main line of an express way and an entrance ramp through a signal control technology of an urban express way entrance ramp of video real-time information. The technical process of controlling the signal of the urban expressway entrance ramp based on the video real-time information can refer to fig. 1, and the arrangement of a certain expressway entrance ramp is shown in fig. 2.
The invention discloses a city expressway entrance ramp signal control technology based on video real-time information, which comprises the following steps:
(1) data acquisition: the method comprises the steps that traffic flow parameter information of a fixed period is extracted in real time through a video detector arranged on a main line and located in an intersection area of an entrance ramp and the main line, the period selection should take account of the response speed of a control algorithm to traffic flow change and the system stability, and through a large number of tests, the value range is suggested to be 2-10 seconds. Judging the running states of traffic flows of the intersection areas of the entrance ramps and the express ways at different moments; in the invention, the video detector adopts a camera;
as shown in fig. 2, the entrance ramps are divided into non-acceleration lane entrance ramps and acceleration lane entrance ramps, and the video detectors are arranged according to the two entrance ramps. Aiming at an entrance ramp of a non-acceleration lane, as shown in fig. 2a, video detectors are respectively arranged at the downstream of a junction area of the entrance ramp and a main stream, at the position of a signal lamp on the entrance ramp and at the entrance of the entrance ramp; for the entrance ramp with an acceleration lane, as shown in fig. 2b, video detectors are respectively arranged at the downstream of the intersection region of the acceleration lane and the main stream of the entrance ramp, at the position of a signal lamp on the entrance ramp and at the entrance of the entrance ramp.
The specific process is as follows:
utilizing a camera to carry out real-time shooting on traffic flow, carrying out digital processing on a real-time traffic flow image shot by the camera on a road, and carrying out processing including filtering noise reduction, threshold segmentation, target extraction, region fusion and the like on the digital image by utilizing the knowledge of image processing; then converting the continuous analog image into a discrete digital image, and analyzing by mature physical model and digital model programming software to obtain traffic flow parameter information; the specific traffic flow parameter information comprises the traffic flow occupancy of a downstream area of a junction area of an entrance ramp and a main line, the traffic flow of the entrance ramp, the traffic throughput entering a main line of the express way from the entrance ramp in each period and the vehicle queuing length on the entrance ramp; in the invention, the video detector automatically uploads a group of traffic flow parameter data to the server every 1s, and the data is recorded as a detection period T.
(2) Judging an occupancy threshold value for maintaining the running state of the downstream main line traffic flow of the intersection area of the entrance ramp and the main line according to the historical traffic flow parameter information, and presetting an occupancy expected value of the downstream main line traffic flow of the intersection area of the entrance ramp and the main line
In general
OcrThe occupancy rate critical value is corresponding to the traffic volume of the main line at the downstream of the intersection area of the entrance ramp and the main line when the traffic volume reaches the traffic capacity. In each detection period, if the occupancy of the downstream main line traffic flow of the intersection area of the entrance ramp and the main line exceeds the expected value of the occupancy of the main line traffic flow, the adjustment rate of the entrance ramp is reduced, otherwise, the adjustment rate of the entrance ramp is increased. Therefore, the main line occupancy of the downstream of the intersection area of the expressway entrance ramp and the main line is maintained near the expected value of the main line occupancy, so that the expressway operates near the maximum traffic capacity; the entrance ramp regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period;
wherein, the adjustment rate of the entrance ramp is calculated according to the real-time traffic flow occupancy of the downstream area of the intersection area of the entrance ramp and the main line, which is measured in the step (1):
the calculation formula of the regulating rate of the entrance ramp is as follows:
wherein r (k) is the entrance ramp regulation rate of the kth ramp control period; r (k-1) is the entrance ramp regulation rate of the kth ramp control period-1; kRThe parameter has calibration property, and the function is to feed back and adjust the value of the next control period according to the influence result of the current control period, so that the control system tends to be stable under external disturbance; determining K through mass analysis by taking shortest passing time and fastest traffic flow convergence rate after control as targetsROptimal value taking; o isout(k-1) controlling the main line occupancy of the downstream of the intersection area of the inlet ramp and the main line in the period of the k-1 th ramp;
(3) and (2) calculating the real-time queuing length of the entrance ramp according to the traffic flow of the entrance ramp obtained in real time in the step (1) and the traffic throughput of the main line of the express way entering from the entrance ramp in each period, and judging whether the queuing length of the entrance ramp exceeds the queuing length critical value of the entrance ramp. If the queuing length of the entrance ramp exceeds the critical value of the queuing length of the entrance ramp, calculating the queuing control regulation rate of the entrance ramp according to the queuing length of the entrance ramp and the demand of the entrance ramp; the queuing control regulation rate is also used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period; otherwise, no adjustment is needed;
the calculation process of the queuing control regulation rate of the entrance ramp is as follows:
(31) and (2) acquiring the real-time traffic flow of the entrance ramp through the step (1), and acquiring the queuing length of the entrance ramp at the last detection moment of the current detection period. The calculation formula of the queuing length of the vehicles on the entrance ramp is as follows:
N(k)＝N(k-1)+Tk[qo in(k)-qo out(k)]
wherein, N (k) is the vehicle queuing length of the entrance ramp at the last detection time of the kth ramp control period;n (k-1) is the vehicle queuing length of the entrance ramp at the last detection moment of the k-1 th ramp control period; t iskA kth ramp control period; q. q.so in(k) Detecting and obtaining the traffic throughput entering the entrance ramp in the kth ramp control period by a video detector arranged at the position of a signal lamp on the entrance ramp; q. q.so out(k) Detecting the traffic throughput entering the main line of the express way from the entrance ramp in the kth ramp control period by a video detector arranged at the entrance of the entrance ramp;
(32) determining threshold value of queuing length of entrance ramp
In order to reasonably grade and realize the effect of gradual control, the relation between the road service level and the saturation and the related queuing control experience are used for reference, and the grading is as follows: 0 to 0.6NmaxIn order to queue up for an acceptable range, (0.6-0.9) NmaxFor queue length, tolerable range, 0.9NmaxThe above queuing length is within an intolerable range; the critical values of 0.6 and 0.9 are obtained after a large number of tests, so that the control algorithm can be considered simultaneously, the phenomenon that the queuing length of the ramp is spread to exceed the capacity of the ramp can be effectively avoided, and the storage space of vehicles on the ramp can be well and fully utilized; critical value of queue length of ramp
NmaxThe maximum queuing length of the entrance ramp;
(33) calculating the queuing control regulation rate of the entrance ramp:
wherein r' (k) is the queuing control regulation rate of the ramp in the kth ramp control period; r' (k-1) is the queuing control regulation rate of the ramp in the k-1 th ramp control period; kqThe function is to adjust the external disturbance fixed in the feedback control for the parameter with calibration property; r'maxIs the largest row of the entrance rampControlling the regulation rate;
(4) calculating the optimal regulation rate of the current entrance ramp: the optimal ramp regulation rate is the maximum value of the occupancy control regulation rate and the queuing control regulation rate; the calculation formula of the optimal adjustment rate of the ramp is as follows:
ro(k)＝max{r(k),r’(k)}
wherein r iso(k) Controlling the optimal regulation rate of the periodic ramp for the kth ramp;
(5) calculating the control period and signal timing of the current entrance ramp signal lamp: determining a time distribution scheme of a signal lamp of the ramp according to the optimal adjustment rate of the ramp, wherein the time distribution scheme comprises red light, green light and yellow light time and a signal period, and feeding back the obtained time distribution scheme to the signal lamp of the ramp for controlling the next period of the entrance ramp through vehicles;
the method specifically comprises the following steps:
(51) the timing scheme of the signal lamps of the ramp ensures that only one vehicle can enter the expressway through the stop line in one green light and yellow light time. One signal period is typically 3s for green plus yellow to ensure that only one vehicle passes the stop line. When a single-vehicle release mode that the green light and yellow light time is 3s and the minimum red light time is 1s is adopted, the shortest time for passing one vehicle is 4 s, and the maximum adjustment amount of the ramp in 1h is 900 veh/h;
(52) determining a time distribution scheme of the signal lamp according to the optimal ramp regulation rate obtained in the step (4), wherein the time distribution scheme comprises red lamp time, green lamp time, yellow lamp time and signal period Tk(ii) a The calculation formula is as follows:
Tgreen＝2s
TYellow colour＝1s
TRed wine＝Tk－TGreen－TYellow colour
Wherein, TGreen、TYellow colour、TRed wineRespectively setting green light, yellow light and red light time in the kth ramp control period; the duration of the green and yellow lights is determined through a number of interviews andthe method is obtained after simulation experiments, a driver can be ensured to pass through the lane when each green light and yellow light are added, multiple vehicles are prevented from passing through the lane at the same time, and the yellow light plays a role in prompting.
(6) Performing cooperative optimization on a data acquisition period and a ramp control period, and fig. 3 is a schematic diagram of a relationship between a video data detection period and a ramp control period according to the present invention; wherein, (a) is the condition that the video processing time can be ignored; (b) consider the case where the video processing time is T0. As shown in fig. 3, the video detection and the signal control are performed synchronously in the kth period, the duration of the data acquisition period is the sum of the durations of all detection periods in the current ramp control period, the value of the duration is equal to the duration of the current ramp control period, and the control parameter of the next control period is calculated according to the video data acquired in the ramp control period;
Tk＝NkT＝Tck，Nkis an integer
Wherein, TckIs the kth data acquisition cycle; n is a radical ofkThe number of detection cycles in the kth ramp control cycle; t is a detection period (T ═ 1 s);
if the collected video information needs a certain time for video processing, the processing time is recorded as T0If so, the time length of the data acquisition cycle corresponding to the kth cycle is still equal to the time length of the control cycle; the starting time of the data acquisition period is the ending time of the last detection period, and the difference between the starting time of the control period and the starting time of the data acquisition period is T0。
(7) And (3) after the optimal control of the ramp vehicle passing rate at the entrance in the current ramp control period is completed, entering the next period, repeating the processes from the step (2) to the step (6) according to the acquired traffic flow data, acquiring the optimal regulation rate at the ramp at the entrance in the next period, and completing the optimal control of the ramp vehicle passing rate in the next period.
Under the condition of not adopting control, as more vehicles pass through the entrance ramp, the traffic demand of a downstream road section of the intersection area of the entrance ramp and the main line is larger than the traffic capacity, the traffic jam is generated at the downstream of the main line of the intersection area of the entrance ramp and the main line due to the fact that the vehicle passing rate of the entrance ramp is too high, the downstream traffic flow is low, namely the traffic capacity is reduced, and the overall traffic efficiency is influenced. After the entrance ramp flow control is adopted, vehicles passing through the entrance ramp are reduced, the running conflict and traffic jam between the entrance ramp and the vehicles at the main line downstream road section of the main line intersection area are reduced, the main line downstream traffic flow of the entrance ramp and the main line intersection area is maintained near the traffic capacity, the traffic jam is effectively prevented from being generated, the defects of slow response of a system to traffic change, control delay and the like caused by the fact that the traffic flow data are measured by an induction coil set for control based on the tradition are overcome, the response speed and the control effect of an entrance ramp control system are improved, the phenomenon of traffic capacity reduction of the expressway intersection area can be effectively prevented, the traffic jam is avoided, and the traffic efficiency of the expressway main line is maximized.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. The city expressway entrance ramp signal control method based on the video real-time information is characterized by comprising the following steps of:
(1) data acquisition: video detectors are arranged at the positions of signal lamps on the entrance ramps of the urban expressway, at the inlets of the entrance ramps and at the downstream of a junction area of the entrance ramps and the main line on the main line, and the traffic flow parameter information of a fixed period is extracted in real time through the arranged video detectors; the fixed period is in a value range of 2-10 seconds; the traffic flow parameter information comprises the traffic flow occupancy of a downstream area of a junction area of the entrance ramp and the main line, the traffic flow and the lane queuing length of the entrance ramp, and the traffic throughput of entering the main line of the express way from the entrance ramp in each fixed period;
(2) drawing the traffic flow and the traffic flow occupancy along with the time before and after the generation of the jam according to the historical traffic flow parameter information of the urban expresswayChanging the curve, determining the occupancy threshold value when the downstream main line traffic flow of the intersection area of the entrance ramp and the main line runs at the traffic capacity, and presetting the occupancy expected value of the downstream main line traffic flow of the intersection area of the entrance ramp and the main line
In each ramp control period, if the downstream main line traffic flow occupancy of the intersection area of the entrance ramp and the main line exceeds the expected main line traffic flow occupancy, reducing the entrance ramp regulation rate, otherwise, increasing the entrance ramp regulation rate; the entrance ramp regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period;
calculating the adjustment rate of the entrance ramp according to the traffic flow occupancy rate of the downstream area of the intersection area of the entrance ramp and the main line, which is obtained in real time in the step (1):
the entrance ramp regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period; r (k) is the entrance ramp regulation rate for the kth ramp control period; r (k-1) is the entrance ramp regulation rate of the kth ramp control period-1; kRIs a parameter having calibration properties; o isout(k-1) controlling the occupation ratio of the main line traffic flow at the downstream of the intersection area of the entrance ramp and the main line in the period of the k-1 th ramp;
(3) calculating the real-time queuing length of the entrance ramp according to the traffic flow of the entrance ramp obtained in real time in the step (1) and the traffic throughput of the main line of the express way entering from the entrance ramp in each fixed period, and judging whether the queuing length of the entrance ramp exceeds the queuing length critical value of the entrance ramp or not; if the queuing length of the entrance ramp exceeds the critical value of the queuing length of the entrance ramp, calculating the queuing control regulation rate of the entrance ramp according to the queuing length of the entrance ramp and the demand of the entrance ramp; otherwise, no adjustment is needed; the queuing control regulation rate is used for regulating the traffic volume entering the express way from the entrance ramp in each ramp control period;
the calculation process of the queuing control regulation rate of the entrance ramp is as follows:
(31) the calculation formula of the queuing length of the vehicles on the entrance ramp is as follows:
N(k)＝N(k-1)+Tk[qo in(k)-qo out(k)]
wherein, N (k) is the vehicle queuing length of the entrance ramp at the last detection time of the kth ramp control period; n (k-1) is the vehicle queuing length of the entrance ramp at the last detection moment of the k-1 th ramp control period; t iskA kth ramp control period; q. q.so in(k) Detecting and obtaining the traffic throughput entering the entrance ramp in the kth ramp control period by a video detector arranged at the position of a signal lamp on the entrance ramp; q. q.so out(k) Detecting the traffic throughput entering the main line of the express way from the entrance ramp in the kth ramp control period by a video detector arranged at the entrance of the entrance ramp;
(32) determining threshold value of queuing length of entrance ramp
NmaxThe maximum queuing length of the entrance ramp; and calculating the queuing control regulation rate of the entrance ramp:
wherein r' (k) is the queuing control regulation rate of the ramp in the kth ramp control period; r' (k-1) is the queuing control regulation rate of the ramp in the k-1 th ramp control period; kqIs a parameter having calibration properties; r'maxControlling the regulation rate for the maximum queuing of the entrance ramp; the queuing lengths of the vehicles on the entrance ramp are classified as follows: 0 to 0.6NmaxIn order to queue up for an acceptable range, (0.6-0.9) NmaxFor queue length, tolerable range, 0.9NmaxThe above queuing length is within an intolerable range;
(4) calculating the optimal regulation rate r of the current entrance rampo(k)：
ro(k)＝max{r(k),r’(k)}；
(5) Determining a time distribution scheme of the signal lamp according to the optimal ramp regulation rate obtained in the step (4), wherein the time distribution scheme comprises red lamp time, green lamp time, yellow lamp time and signal period Tk(ii) a The calculation formula is as follows:
Tgreen＝2s
TYellow colour＝1s
TRed wine＝Tk－TGreen－TYellow colour
Wherein, TGreen、TYellow colour、TRed wineRespectively setting green light, yellow light and red light time in the kth ramp control period;
(6) and (5) after the optimal control of the ramp vehicle passing rate of the entrance in the current ramp control period is finished, entering the next ramp control period, repeating the processes from the step (2) to the step (5) according to the acquired traffic flow data, acquiring the optimal adjustment rate of the ramp vehicle passing rate of the entrance in the next ramp control period, and finishing the optimal control of the ramp vehicle passing rate in the next ramp control period.
2. The city expressway entrance ramp signal control method based on video real-time information according to claim 1, further comprising the step of, after the step (5): performing collaborative optimization on a data acquisition period and a ramp control period, performing video detection and signal control synchronously in the kth ramp control period, wherein the duration of the data acquisition period is the sum of the durations of all detection periods in the current ramp control period, the value of the duration is equal to the duration of the current ramp control period, and calculating to obtain a control parameter of the next ramp control period according to video data acquired in the ramp control period; t isk＝NkT＝Tck，NkIs an integer;
wherein, TckIs the kth data acquisition cycle; n is a radical ofkThe number of detection cycles in the kth ramp control cycle; t is video inspectionThe detection period of the detector;
if the collected video information is processed for T time0If so, the time length of the data acquisition cycle corresponding to the kth ramp control cycle is still equal to the time length of the ramp control cycle; the initial time of the data acquisition period is the ending time of the last detection period, and the difference between the initial time of the ramp control period and the initial time of the data acquisition period is T0。
3. The city expressway entrance ramp signal control method based on video real-time information according to claim 1, wherein the entrance ramps are divided into non-accelerating lane entrance ramps and accelerating lane entrance ramps; laying video detectors according to the two entrance ramps; aiming at an entrance ramp of a non-acceleration lane, video detectors are respectively arranged at the positions of signal lamps on the entrance ramp and at the entrance of the entrance ramp at the downstream of the intersection area of the entrance ramp and a main line; aiming at the entrance ramp with the acceleration lane, video detectors are respectively arranged at the downstream of the intersection area of the acceleration lane and the main line of the entrance ramp, at the position of a signal lamp on the entrance ramp and at the entrance of the entrance ramp.
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Application publication date: 20180907 Assignee: Nanjing highway development (Group) Co.,Ltd. Assignor: JINLING INSTITUTE OF TECHNOLOGY Contract record no.: X2021320000006 Denomination of invention: On ramp signal control method of Urban Expressway Based on real time video information Granted publication date: 20200731 License type: Common License Record date: 20210107 |