CN108615362A - A kind of road traffic flow parameter extracting method under 5G car networkings environment - Google Patents
A kind of road traffic flow parameter extracting method under 5G car networkings environment Download PDFInfo
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Abstract
The present invention provides the road traffic flow parameter extracting methods under a kind of 5G car networkings environment.The present invention is based on the 5G communication technologys to provide a kind of road traffic flow parameter extracting method under 5G car networking environment, by the road network information for obtaining and counting the running information and road of the networking vehicle in preset regions, and road traffic delay parameter and intersection traffic stream parameter are calculated according to the running information and road network information that get, data basis as assessment traffic quality, it is low with the compatible degree of 5G communication networks to solve existing road traffic flow parameter extracting method, the low technical problem low with the assessment accuracy of condition of road surface of acquisition efficiency of caused traffic flow parameter.
Description
Technical field
The present invention relates to the road traffic flow parameter extraction sides under car networking field more particularly to a kind of 5G car networkings environment
Method.
Background technology
In recent years, in Internet of Things (The Internet of Things, IOT) and cloud computing (Cloud
) etc. Computing under the promotion of technologies fast development, car networking technology has obtained quick development.Car networking is intelligent transportation
The future developing trend of system is related to wireless communication technique, mobile sensor technology, Large-scale parallel computing technology, road network and hands over
Numerous technologies and the theories such as logical isostatic theory are, it can be achieved that the real time information between vehicle vehicle, bus or train route, vehicle and center exchanges, from the overall situation
Angle each networking vehicle is monitored in real time and is induced so that traffic safety and traffic circulation efficiency obtain greatly
Promoted to width.
Traffic flow parameter weighs the important indicator of condition of road surface and the basis of urban traffic control and control, commonly uses and hands over
Through-flow parameter includes mainly the volume of traffic, speed, traffic density, queue length etc..Conventional traffic stream parameter acquisition technology mainly has
The modes such as artificial non-automatic acquisition, induction coil detection, video detection, infrared detection, Floating Car acquisition, but as 5G is communicated
The development of technology, traditional traffic flow parameter acquisition modes can no longer meet the data demand of 5G car networkings, result in traffic
The acquisition efficiency for flowing parameter is low, and then influences the assessment accuracy of condition of road surface.
Invention content
The present invention provides the road traffic flow parameter extracting methods under a kind of 5G car networkings environment, for solving due to passing
The traffic flow parameter acquisition modes of system can no longer meet the data demand of 5G car networkings, the acquisition effect of caused traffic flow parameter
Rate is low, and then influences the assessment accuracy of condition of road surface.
The present invention provides the road traffic flow parameter extracting methods under a kind of 5G car networkings environment, including：
Obtain and count the road network information of the running information and road of the networking vehicle in preset regions, wherein the driving
Information includes：Networking vehicle ID, real-time time, location information, instantaneous velocity and traveling azimuth；
According to the running information and the road network information, road traffic delay parameter is obtained by calculation, wherein the road
Section traffic flow parameter specifically includes：Road average-speed, average travel time for road sections, road-section average stroke delay time at stop, section
Traffic density, link counting and road network mobile networking vehicle number；
According to the road network information of networking the vehicle running information and the road, intersection traffic stream ginseng is obtained by calculation
Number, wherein the through-flow parameter in intersection specifically includes：Crossing entrance driveway traffic density, crossing entrance driveway maximum queue length,
The crossing inlet road volume of traffic and intersection mean delay time；
Judge road traffic condition according to the road traffic delay parameter and the intersection traffic stream parameter.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
According to the running information and the road network information, simply connected net is calculated by road average-speed calculation formula
Road traffic delay ginseng is obtained by calculation further according to networking vehicle traveling average speed and section networking vehicle quantity in vehicle average speed
Road average-speed in number, wherein road average-speed calculation formula is specially：
In formula,For average speed of the jth networking vehicle on the sections i, Δ lkFor jth networking vehicle on the sections i from
The operating range at m-1 moment to m moment, Δ t are the time interval of networking vehicle gathered data；N is online vehicles on the i-th section
Quantity；For the average speed in i-th of section.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
According to the road network information of running information and road, simply connected is calculated by average travel time for road sections calculation formula
Net vehicle average travel time；Then according to simply connected net vehicle average travel time and section networking vehicle quantity, combining adaptive weight
The average travel time for road sections in road traffic delay parameter is calculated in linear weighted function amalgamation mode, wherein road-section average stroke
Time calculation formula is specially：
In formula, Δ lijFor operating range of the jth networking vehicle on the i of section,For the weight of jth networking vehicle
Coefficient, tiIt is to network vehicle in the average running time of section i, tijFor journey time of the jth networking vehicle on the i of section；liFor
The length of section i.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
According to the road network information of the running information and road of networking vehicle, determine networking vehicle in the practical section row for presetting section
Time and theoretical link travel time are sailed, then according to the difference of practical link travel time and theoretical link travel time, is passed through
The road-section average stroke delay time at stop in traffic flow parameter is calculated in road-section average stroke delay time at stop calculation formula, wherein
Road-section average stroke delay time at stop calculation formula is specially：
In formula, TjFor the section actual travel time of jth networking vehicle, L is the road section length of jth networking vehicle traveling,For the road average-speed of jth networking vehicle traveling, Tj' be jth networking vehicle section theory running time, v ' be road
Desin speed, Δ TjFor the stroke delay time at stop of jth networking vehicle traveling, Δ Tj' for jth networking vehicle traveling unit away from
From delay time at stop, Δ T be the road-section average stroke delay time at stop.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
It is matched with the road network information of road according to the location information in the running information of networking vehicle, counts preset section
In instantaneous networking vehicle quantity, and according to road section traffic volume density calculation formula, obtain the road section traffic volume in road traffic delay parameter
Density, wherein road section traffic volume density calculation formula is specially：
In formula, kiFor the instantaneous traffic density in the i-th section, NiFor the instantaneous networking vehicle quantity in the i-th section, LiFor the i-th section
Length.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
According to the road network information of road, the road section length in preset section is determined, if the road section length in preset section is more than road
The road section traffic volume in road traffic delay parameter is calculated then according to noiseless link counting calculation formula in segment length threshold value
Amount, according to there is interference link counting calculation formula, calculates if the road section length in preset section is less than road section length threshold value
To the link counting in road traffic delay parameter；
Wherein, noiseless link counting calculation formula is specially：
Have interference link counting calculation formula be specially：
In formula, Q link countings, vfFor section free stream velocity, k is road section traffic volume density, vqFor with speed of speeding；A is connection
Net vehicle is averaged braking safe coefficient, and b is time of driver's reaction, and c is the sum of length of wagon and parking safe distance, QsFor crossing
Import saturation volume, trFor crossing red light duration, v is road average-speed；kjFor jam density, C is the crossing signals period.
Preferably, according to the running information and the road network information, it is specific that road traffic delay parameter is obtained by calculation
Including：
According to get networking vehicle running information in location information and instantaneous velocity and road road network information,
According to ray method decision procedure, the networking vehicle quantity of mobile status is in statistics road network region.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
According to the intersection location information in the road network information of the location information of networking vehicle and road, the networking vehicle is judged
Whether be located at intersection region, if so, count the networking vehicle quantity in the intersection region, and according to intersection into
Mouth road traffic density calculation formula, obtains the crossing inlet road traffic density in intersection traffic stream parameter, wherein intersection
Traffic density calculation formula is specially：
In formula, KiFor the traffic density of i-th of intersection region entrance driveway, NiIt is default for i-th of intersection region entrance driveway
Vehicle number in length L, LiFor the detection range length of i-th of intersection region entrance driveway.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
According to the location information and instantaneous velocity of networking vehicle, judge whether networking vehicle is located at intersection region and is in
It runs at a low speed or dead ship condition, if so, counting the parking line position in the intersection region and the networking truck position
Air line distance, and set the maximum value of the air line distance to the maximum queue length in intersection traffic stream parameter.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
The networking vehicle quantity and vehicle fleet in the intersection entrance driveway presetting range are counted, according to the networking
The ratio of vehicle quantity and the vehicle fleet is calculated by crossing inlet road volume of traffic calculation formula between preset time
The crossing inlet road volume of traffic in the interior intersection parameter, wherein the crossing inlet road volume of traffic calculates public
Formula is specially：
In formula, p is the proportionality coefficient between driving vehicle sum and networking vehicle quantity in road network；NFiFor section i in road network
The upper sum for being lined up networking vehicle；NiFor the queuing vehicle number in road network on the i of section；qL(i)For section i maximum queue lengths；For
Vehicle spacing.
Preferably, described according to the running information and the road network information, road traffic delay parameter is obtained by calculation
It specifically includes：
Networking vehicle is obtained by the practical by the time of intersection region, is passed through by time and theory according to the reality
The intersection in intersection traffic stream parameter is calculated by intersection mean delay time calculation formula in the difference of time
The mean delay time, wherein mean delay time calculation formula in intersection is specially：
In formula, d is that the networking vehicle passes through the delay time at stop in intersection region, TIt is practicalPass through intersection for the networking vehicle
The reality in region passes through time, TIt is theoreticalIt is the networking vehicle by the theoretical by the time of intersection region, n is by intersection
All networking vehicle quantity；djIt is jth networking vehicle by the delay time at stop of intersection.
As can be seen from the above technical solutions, the present invention has the following advantages：
The present invention provides the road traffic flow parameter extracting methods under a kind of 5G car networkings environment, including：It obtains and unites
Count the road network information of the running information and road of the networking vehicle in preset regions, wherein the running information includes：Networking vehicle
ID, real-time time, location information, instantaneous velocity and traveling azimuth；According to the running information and the road network information, pass through
Road traffic delay parameter is calculated, wherein the road traffic delay parameter specifically includes：Road average-speed, road-section average
Journey time, road-section average stroke delay time at stop, road section traffic volume density, link counting and road network mobile networking vehicle number；Root
According to the road network information of networking the vehicle running information and the road, intersection traffic stream parameter is obtained by calculation, wherein institute
The through-flow parameter in intersection is stated to specifically include：Crossing entrance driveway traffic density, crossing entrance driveway maximum queue length, crossing inlet
The road volume of traffic and intersection mean delay time；Sentenced according to the road traffic delay parameter and the intersection traffic stream parameter
Disconnected road traffic condition.
The present invention is based on the 5G communication technologys to provide a kind of road traffic flow parameter extraction under 5G car networking environment
Method, it is low with the compatible degree of 5G communication networks to solve existing road traffic flow parameter extracting method, caused traffic flow ginseng
The low technical problem low with the assessment accuracy of condition of road surface of several acquisition efficiency.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow signal of the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
Figure；
Fig. 2 is the intersection in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
With networking truck position relation schematic diagram；
Fig. 3 is the networking vehicle in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
The process schematic that straight trip passes through intersection；
Fig. 4 is that the section in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention is flat
The verification result schematic diagram of equal speed；
Fig. 5 is that the section in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention is flat
The verification result schematic diagram of equal journey time；
Fig. 6 is that the section in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention is flat
Equal stroke delay time at stop verification result schematic diagram；
Fig. 7 is that the section in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention is handed over
Flux density verification result schematic diagram；
Fig. 8 is that the section in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention is handed over
The verification result schematic diagram of flux；
Fig. 9 is that the road network in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention moves
The verification result schematic diagram of dynamic vehicle number；
Figure 10 is the intersection in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
Oral sex flux density verification result schematic diagram；
Figure 11 is the intersection in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
The verification result schematic diagram of mouth entrance driveway maximum queue length；
Figure 12 is the intersection in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
The verification result schematic diagram of the mouth import volume of traffic；
Figure 13 is the intersection in the road traffic flow parameter extracting method under a kind of 5G car networkings environment provided by the invention
The verification result schematic diagram of mouth mean delay time.
Specific implementation mode
An embodiment of the present invention provides the road traffic flow parameter extracting methods under a kind of 5G car networkings environment, for solving
Since traditional traffic flow parameter acquisition modes can no longer meet the data demand of 5G car networkings, caused traffic flow parameter
It is low to obtain efficiency, and then influences the assessment accuracy of condition of road surface.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
All other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
It please refers to Fig.1 to Figure 13, the present invention provides the road traffic flow parameter extraction sides under a kind of 5G car networkings environment
Method, including：
101, obtain and count the road network information of the running information and road of the networking vehicle in preset regions；
Wherein, running information includes：Networking vehicle ID, real-time time, location information, instantaneous velocity and traveling azimuth；
The road network information of road is specially traffic geography information；
It should be noted that in 5G car networking environment, vehicle is respectively mounted GPS mobile units, can to the periphery base stations 5G or
Vehicle repeater sends the information such as longitude and latitude and speed in real time, and data will finally be aggregated into command centre.Each connection in network
Net vehicle is the equal of a Floating Car, is stored with text formatting, and per a source data is sent to command centre every few seconds, format is such as
Shown in table 1：
1 running information parameter list of table
| Symbol | Data sample | Field | Remarks |
| ID | 45321008 | Vehicle GPS is numbered | The unique mark of each car |
| T | 20170812143222 | Time | 14 points of August in 2017 12 days 32 minutes and 18 seconds |
| J | 118.487659 | Longitude | East longitude |
| W | 39.213215 | Latitude | North latitude |
| V | 45 | Speed | The instantaneous velocity (km/h) of the vehicle |
| DA | 245 | Deflection | Vehicle heading, the angle with direct north |
| ST | 1 | GPS states | 1 indicates normal, and 0 indicates abnormal |
The set F of all GPS vehicles source datasj, it is represented by：
Fj={ IDj, Tj, Jj, Wj, Vj, DAj, STj|j∈N}
In above-mentioned GPS vehicles source data, the instantaneous velocity at each car a certain moment can be obtained.It, will using map matching technology
The longitude and latitude of GPS vehicle source datas is matched in electronic map, can get specific location of the vehicle in road network.
102, according to running information and road network information, road traffic delay parameter is obtained by calculation；
It should be noted that road traffic delay parameter specifically includes：Road average-speed, average travel time for road sections, road
Section average stroke delay time at stop, road section traffic volume density, link counting and road network mobile networking vehicle number；
Wherein, the calculation of each road traffic delay parameter is as follows：
(1) road average-speed：
The average speed in section can be calculated using the GPS vehicle datas after map match, formula is as follows：
Wherein, Δ lkFor jth networking vehicle from m-1 moment to the operating range at m moment on the sections i；
Δ t is the time interval of networking vehicle gathered data；
For average speed of the jth networking vehicle on the sections i；
N is vehicle fleet size of networking on the i-th section；
For the average speed in i-th of section.
(2) average travel time for road sections：
The calculation formula of journey time of the jth networking vehicle on the i of section is as follows：
In formula, tijFor journey time (s) of the jth networking vehicle on the i of section；
liFor the length (m) of section i；
Average travel time for road sections can be calculated with the arithmetic mean of instantaneous value for the journey time for travelling all networking vehicles in the section,
Formula is as follows：
In practice, it largely networks in specific time the partial distance of vehicle running section, therefore, using adaptive power
Weight linear weighted function fusion method, weight coefficient are that single networking vehicle travels the distance in the section and all networking vehicles travel the section
Ratio apart from summation, formula are as follows：
In formula, Δ lijFor operating range of the jth networking vehicle on the i of section；
For the weight coefficient of jth networking vehicle；
tiFor the average running time of road network i.
(3) the road-section average stroke delay time at stop：
Definition：The road-section average stroke delay time at stop refers to actual travel time and the theory that all vehicles travel a distance
The arithmetic mean of instantaneous value of the difference of running time.
Assuming that jth networking vehicle traveling road section length is L, the section actual travel time T of jth networking vehiclej(s), may be used
It is expressed as：
In formula, l is the road section length (km) of jth networking vehicle traveling；
For the road average-speed (km/h) of jth networking vehicle traveling；
The section theory running time T ' of jth networking vehiclej(s), it is represented by：
Wherein, v ' is the desin speed (km/h) of road.
Highway layout speed, can foundation《Urban road engineering design specification》It determines, shown in table specific as follows：
2 designing of city road speed of table
Jth networking vehicle travels the stroke delay time at stop Δ T in the sectionj, can be expressed as：
By above-mentioned formula, it is known that the link travel delay time at stop can with the length of road increase and increase, in order to make less than
There is comparativity in the stroke delay time at stop of road, and the link travel delay time at stop is newly defined as the reality that vehicle travels unit length
The difference of running time and theoretical running time, is represented by：
In formula, Δ T 'jThe delay time at stop of the section unit distance, s/km are travelled for jth networking vehicle；
Therefore, road-section average stroke delay time at stop Δ T (s/km), is represented by：
(4) road section traffic volume density：
Traffic density refers to certain specific length road vehicle number in a flash, and unit is /km.Networking vehicle floating data
After carrying out map match, it may be determined that the position of its moment, therefore can determine certain vehicle number on section in a flash, so as to
The traffic density in section is calculated, formula is as follows：
In formula, kiFor the traffic density (/km) in certain i-th section in a flash；
NiFor the vehicle number in certain i-th section in a flash；
LiFor the length (km) in the i-th section.
(5) link counting：
The volume of traffic refers to the vehicular traffic number by a certain section of road in the unit interval.Using networking vehicle floating data without
Method directly acquires link counting, but can be calculated by traffic flow theory.
Noiseless section is generally can be divided into according to the length in section and has interference section；
Wherein, noiseless section refers to the very remote road in adjacent segments interval, and section is longer, and the volume of traffic is by crossing
It influences smaller and relatively stable.
Noiseless link counting can be used three stage speed-discharge relation model and be calculated[7], calculation formula is such as
Under：
In this formula, Q is noiseless link counting (/h)；vfFor section free stream velocity (km/h), value can refer to
Table 2；K is road section traffic volume density (/km)；vqFor with speed of speeding (km/h), the present embodiment takes 20km/h；A is braking safe system
Number, the present embodiment take 0.5m/s2；B is time of driver's reaction, takes 1s；C is the sum of vehicle body length and parking safe distance, this reality
It applies example and takes 9m.
It refers to the relatively short section of length to have interference section, and section wagon flow is easily influenced by signalized intersections；
There is interference link counting that traffic shock wave theory can be used and is calculated that calculation formula is as follows：
In this formula, Q is to have interference link counting (/h)；
QsFor crossing import saturation volume (/h), can be determined according to entrance driveway width；
trFor crossing red light duration (s), the sum of practical red time and loss time are taken, the ordinary loss time takes 2s；
vfFor section free stream velocity (km/h), value can refer to table 1；
V is road average-speed (km/h)；
kjFor jam density (/km), value 150-155veh/km；
C is the crossing signals period (s)；
(6) road network mobile vehicle number：
Under car networking environment, vehicle is respectively mounted GPS mobile units, can send longitude and latitude and speed to roadside unit in real time
Etc. information；Judge whether mobile vehicle (average speed is more than the vehicle of 5km/h) falls in road network region at this time, is equivalent to sentence
Whether breakpoint falls in polygonal region.It can determine whether vehicle falls in road network region using ray method, basic thought is：
From vehicle longitude and latitude point to be judged to some direction injection line, the number with road network boundary intersection is calculated, if number is
Even number or 0 point are in road network region exterior, if it is odd number, then inside road network region.
103, according to the road network information of networking vehicle running information and road, intersection traffic stream parameter is obtained by calculation；
It should be noted that each, intersection is through-flow, and parameter specifically includes：Crossing entrance driveway traffic density, crossing entrance driveway
Maximum queue length, the crossing inlet road volume of traffic and intersection mean delay time；
Wherein, the calculation of the through-flow parameter in intersection is as follows：
(1) crossing entrance driveway traffic density：
Under 5G car networking environment, intersection annunciator carries out D2D communications with mobile unit, can obtain each vehicle in real time
The information such as GPS location, speed, so as to calculate the distance d that each vehicle reaches each import stop lineij.Known 2 longitude and latitude A
(AJ, AW), B (BJ, BW), the air line distance of point-to-point transmission：
In formula：dijFor jth vehicle on the i-th section to the distance of the section import stop line；
AJij,AWijFor the longitude and latitude of jth vehicle on the i-th section；
BJij,BWijFor the longitude and latitude of the i-th section upper inlet stop line；
R is terrestrial equator radius, takes 6378137 meters.
According to the difference of the air line distance of point-to-point transmission and preset length L, it can be determined that whether tested vehicle enters intersection
Region；
Therefore, the traffic density K in preset length Li, formula is as follows：
In formula, i numbers for import, and 1,2,3,4；
NiFor in each import preset length L, the vehicle number of V≤30km/h；
LiFor each import preset length；
(2) crossing entrance driveway maximum queue length：
On crossing inlet road, vehicle reaches the distance set D of stop line, is expressed as
D={ dij| i ∈ L, j ∈ N }
The spot speed set V of vehicle, is expressed as：
V={ vij| i ∈ L, j ∈ N }
In formula, vijThe spot speed of jth vehicle on-the i-th section；
The vehicle of instantaneous velocity v≤5km/h is defined as parking queuing vehicle, therefore can get on section, all parkings
The queue length set Q of queuing vehicleL, indicate:
QL={ dij, vij| i ∈ L, j ∈ N, and vij≤5}
Therefore, the maximum queue length of the i-th section vehicle is represented by：
qL(i)=max (QLi)
(3) each import volume of traffic in intersection：
Assuming that the preset length of each entrance driveway is Lri, it is total that entrance driveway preset length Intranet vehicle accounts for mobile vehicle in entrance driveway
Several ratio p, formula are as follows：
Wherein, p is the proportionality coefficient between driving vehicle sum and networking vehicle in road network；
NFiFor the sum () of networking vehicle is lined up in road network on the i of section；
NiFor the queuing vehicle number () in road network on the i of section；
qL(i)For section maximum queue length；
Spacing of picking up the car for vehicle spacing, in the present embodiment is 5.5m；
It is in k to calculate time interval according to aforementioned formula, and vehicle fleet joins with traveling in road network on each section in road network
Relationship between net vehicle number.
Wherein, NF(k) it is the sum () of networking vehicle in road network section in time interval；
N (k) is the sum () that road network section runs vehicle in time interval, i.e. the crossing inlet road volume of traffic.
(4) the intersection mean delay time：
1) practical to be calculated by the intersection time：
Vehicle straight trip of networking passes through the process of intersection as shown in figure 3, presetting intersection detection range at the intersection
L, and determine the starting point of detection range, networking vehicle uses T respectively at the time of entering intersection detection range starting pointvs、TveTable
Show, Tv1、Tv2The positioning moment of front and back two closest floating data points v1, v2 of detection range starting point is indicated respectively；l1、l2
Moment anchor point v is indicated respectively1、v2Distance apart from detection range starting point；Tv3、Tv4The front and back of detection range terminal is indicated respectively
The positioning moment of two closest floating data points v3, v4；l3、l4Indicate moment anchor point v3, v4 apart from detection range respectively
The distance of terminal,
The velocity variations very little of vehicle in short distance, therefore speed can be assumed to a steady state value in short distance, just
T at the time of networking vehicle passes through detection range starting point can be estimatedvs、Tve, formula is as follows：
Therefore, real time T of the networking vehicle by detection range can be calculatedIt is practical, formula is as follows：
2) the intersection delay time calculates：
Networking vehicle is that networking vehicle subtracts theoretical time by the real time of intersection by the delay time at stop of intersection, then
In formula, L is intersection detection range length, value 160m；
vFreelyFor the highway layout speed (km/h), value can refer to above-mentioned table 2.
3) the intersection mean delay time calculates：
The intersection mean delay time can be calculated with all networking vehicles by the arithmetic mean of instantaneous value of intersection delay time,
Formula is as follows：
In formula, n is all networking vehicle quantity by intersection；
djIt is jth networking vehicle by the delay time at stop (s) of intersection.
104, road traffic condition is judged according to road traffic delay parameter and intersection traffic stream parameter.
It should be noted that the present embodiment chooses reported in Tianhe district of Guangzhou core road network intersection group as research object, lead to
Vissim traffic simulation modeling analysis is crossed, the validity of various traffic flow parameter extracting methods is verified.The road network is by Milky Way road, day
The trunk roads such as east of a river road, Milky Way North Road, sport West Road, sport East Road and partial branch composition, including more than 7 level-crossings,
More than 20 entrances, traffic flow data is with SCATS traffic signal control systems in the peak hour (18 on the 6th of August in 2017:
00-19:00) based on institute's detection data.
In Vissim traffic simulation softwares, road grid traffic simulation model is established, by com interface programmings, every 5 seconds
The information such as position, the speed of vehicle are obtained, simulate 5G car networking environment, as shown in Figure 3.Traffic data according to above-mentioned acquisition is whole
It after reason, is input in the road network simulation model, detector is arranged in each section centre position, to avoid emulation initial stage road network wagon flow
Unstability acquires relevant traffic stream parameter every 120s, acquires 12 periods altogether since 720s.
Section GI is calculated with above-mentioned traffic flow parameter extracting method using the networking car data read after emulation
With Milky Way road --- the various traffic flow parameters of sport east intersection.
After data preparation, the average speed of section GI, average travel time, average stroke delay time at stop, traffic are obtained
The calculating data of the traffic flow parameters such as density, the volume of traffic, vehicle number and emulation data comparison figure, as shown in Fig. 4 to Fig. 9.
The average speed calculated value of section GI and simulation value deviation 0.03%, average travel time calculated value and simulation value
Deviation 0.09%, average stroke delay time at stop calculated value and simulation value deviation -0.12%, traffic density calculated value and emulation
It is worth deviation -0.01%, volume of traffic calculated value and simulation value deviation -0.66%.
In addition, Milky Way road is also obtained --- western import traffic density, the western import maximum of the intersections sport Lu Dong are lined up
Length, the western import volume of traffic toward the calculating data for equal delay time at stop of conquering east and emulate data comparison figure from west, such as Figure 10 to Figure 13
It is shown.
Wherein, Milky Way road --- the western import traffic density calculated value of the intersections sport Lu Dong and simulation value deviation-
0.2%, -0.97%, western import volume of traffic calculated value and emulation of western import maximum queue length calculated value and simulation value deviation
Value deviation -0.49%, from west toward equal delay time at stop calculated value and simulation value deviation -0.35% of conquering east.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Stating embodiment, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (11)
1. the road traffic flow parameter extracting method under a kind of 5G car networkings environment, which is characterized in that including：
Obtain and count the road network information of the running information and road of the networking vehicle in preset regions, wherein the running information
Including：Networking vehicle ID, real-time time, location information, instantaneous velocity and traveling azimuth；
According to the running information and the road network information, road traffic delay parameter is obtained by calculation, wherein hand in the section
Through-flow parameter specifically includes：Road average-speed, average travel time for road sections, road-section average stroke delay time at stop, road section traffic volume
Density, link counting and road network mobile networking vehicle number；
According to the road network information of networking the vehicle running information and the road, intersection traffic stream parameter is obtained by calculation,
Wherein, the through-flow parameter in the intersection specifically includes：Crossing entrance driveway traffic density, is handed over crossing entrance driveway maximum queue length
The prong entrance driveway volume of traffic and intersection mean delay time；
Judge road traffic condition according to the road traffic delay parameter and the intersection traffic stream parameter.
2. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to the running information and the road network information, it is flat that simply connected net vehicle is calculated by road average-speed calculation formula
Equal speed is obtained by calculation further according to networking vehicle traveling average speed and section networking vehicle quantity in road traffic delay parameter
Road average-speed, wherein the road average-speed calculation formula is specially：
In formula,For average speed of the jth networking vehicle on the sections i, Δ lkFor jth networking vehicle from m-1 on the sections i
The operating range at moment to m moment, Δ t are the time interval of networking vehicle gathered data；N is vehicle fleet size of networking on the i-th section；For the average speed in i-th of section.
3. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to the road network information of running information and road, simply connected net vehicle is calculated by average travel time for road sections calculation formula
Average travel time；Then according to simply connected net vehicle average travel time and section networking vehicle quantity, combining adaptive weight is linear
The average travel time for road sections in road traffic delay parameter is calculated in Weighted Fusion mode, wherein the road-section average stroke
Time calculation formula is specially：
In formula, Δ lijFor operating range of the jth networking vehicle on the i of section,For the weight coefficient of jth networking vehicle,
tiIt is to network vehicle in the average running time of section i, tijFor journey time of the jth networking vehicle on the i of section；liFor section i
Length.
4. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to the road network information of the running information and road of networking vehicle, determine networking vehicle in the practical sections of road in default section
Between and theoretical link travel time pass through section then according to the difference of practical link travel time and theoretical link travel time
The road-section average stroke delay time at stop in traffic flow parameter is calculated, wherein described in average stroke delay time at stop calculation formula
Road-section average stroke delay time at stop calculation formula is specially：
In formula, TjFor the section actual travel time of jth networking vehicle, L is the road section length of jth networking vehicle traveling,It is
The road average-speed of j networking vehicle traveling, T 'jFor the section theory running time of jth networking vehicle, v ' is the design of road
Speed, Δ TjFor the stroke delay time at stop of jth networking vehicle traveling, Δ T 'jUnit distance for jth networking vehicle traveling is prolonged
Between mistaking, Δ T is the road-section average stroke delay time at stop.
5. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
It is matched with the road network information according to the location information in the running information, counts instantaneous in preset section
Net vehicle quantity, and according to road section traffic volume density calculation formula, obtain the road section traffic volume density in road traffic delay parameter, wherein
The road section traffic volume density calculation formula is specially：
In formula, kiFor the instantaneous traffic density in the i-th section, NiFor the instantaneous networking vehicle quantity in the i-th section, LiFor the length in the i-th section
Degree.
6. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 2, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to the road network information, the road section length in preset section is determined, if the road section length in preset section is more than road section length
The link counting in road traffic delay parameter is calculated then according to noiseless link counting calculation formula in threshold value, if in advance
The road section length for setting section is less than road section length threshold value, then according to there is interference link counting calculation formula, section is calculated
Link counting in traffic flow parameter；
Wherein, the noiseless link counting calculation formula is specially：
It is described have interference link counting calculation formula be specially：
In formula, Q link countings, vfFor section free stream velocity, k is road section traffic volume density, vqFor with speed of speeding；A is networking vehicle
Average braking safe coefficient, b are time of driver's reaction, and c is the sum of length of wagon and parking safe distance, QsFor crossing import
Saturation volume, trFor crossing red light duration, v is road average-speed；kjFor jam density, C is the crossing signals period.
7. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that root
According to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to get networking vehicle running information in location information and instantaneous velocity and road road network information, according to
Ray method decision procedure counts the networking vehicle quantity that mobile status is in road network region.
8. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to the intersection location information in the road network information of the location information of networking vehicle and road, whether the networking vehicle is judged
Positioned at intersection region, if so, the networking vehicle quantity in the intersection region is counted, and according to crossing inlet road
Traffic density calculation formula obtains the crossing inlet road traffic density in intersection traffic stream parameter, wherein intersection traffic
Density calculation formula is specially：
In formula, KiFor the traffic density of i-th of intersection region entrance driveway, NiFor i-th of intersection region entrance driveway preset length
Vehicle number in L, LiFor the detection range length of i-th of intersection region entrance driveway.
9. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 8, which is characterized in that institute
It states according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
According to the location information and instantaneous velocity of networking vehicle, whether the vehicle that judges to network is positioned at intersection region and in low speed
Traveling or dead ship condition, if so, counting the parking line position in the intersection region and the straight of truck position of networking
Linear distance, and set the maximum value of the air line distance to the maximum queue length in intersection traffic stream parameter.
10. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 9, which is characterized in that
It is described according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
The networking vehicle quantity and vehicle fleet in the intersection entrance driveway presetting range are counted, according to the networking vehicle number
Amount and the ratio of the vehicle fleet are calculated by crossing inlet road volume of traffic calculation formula in preset time interval
The intersection parameter in the crossing inlet road volume of traffic, wherein crossing inlet road volume of traffic calculation formula have
Body is：
In formula, p is the proportionality coefficient between driving vehicle sum and networking vehicle quantity, N in road networkFiTo be arranged on the i of section in road network
The sum of networking vehicle in team；NiFor the vehicle fleet in the queuing in road network on the i of section；qL(i)For the section intersections i maximum
Queue length；For vehicle spacing.
11. the road traffic flow parameter extracting method under a kind of 5G car networkings environment according to claim 1, which is characterized in that
It is described according to the running information and the road network information, road traffic delay parameter is obtained by calculation and specifically includes：
Networking vehicle is obtained by the practical by the time of intersection region, the time is passed through by time and theory according to the reality
Difference it is average to be calculated by intersection mean delay time calculation formula for intersection in intersection traffic stream parameter
Delay time at stop, wherein mean delay time calculation formula in intersection is specially：
In formula, d is that the networking vehicle passes through the delay time at stop in intersection region, TIt is practicalPass through intersection region for the networking vehicle
Reality pass through time, TIt is theoreticalFor the networking vehicle by the theory in intersection region by the time, n is by the institute of intersection
There are networking vehicle quantity, djIt is jth networking vehicle by the delay time at stop of intersection.
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