CN109272747A - Method for dynamically adjusting threshold setting of variable guidance lane attribute of signal control plane intersection - Google Patents

Method for dynamically adjusting threshold setting of variable guidance lane attribute of signal control plane intersection Download PDF

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CN109272747A
CN109272747A CN201810980105.6A CN201810980105A CN109272747A CN 109272747 A CN109272747 A CN 109272747A CN 201810980105 A CN201810980105 A CN 201810980105A CN 109272747 A CN109272747 A CN 109272747A
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CN109272747B (en
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甘婧
项乔君
郑展骥
李林恒
禹奥业
郑康康
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Southeast University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
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    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles

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Abstract

The invention discloses a kind of signal control level-crossings can be changed guided vehicle road attribute dynamic adjustment threshold setting method, including intersection geometric parameter, signal control parameter and basic traffic data collection；The calculating of each lane group saturation volume rate of entrance driveway before and after variable guided vehicle road attribute change；The foundation of variable guided vehicle road attribute change threshold value setting model；Multiple straight traffic flows correspond to the solution of left turn traffic threshold value；Data fitting, the generation of threshold curve.The present invention provides a kind of dynamic of variable guided vehicle road to lane turning function to adjust threshold setting method, this method can provide parameter basis for traffic control, the dynamic fluctuation for effectively adapting to each turning traffic flow demand in crossing inlet road, the improvement for being conducive to intersection time-space distribution utilization efficiency are promoted.

Description

A kind of signal control level-crossing can be changed guided vehicle road attribute dynamic adjustment threshold value and set Set method
Technical field
The invention belongs to intelligent transportation fields more particularly to signal control level-crossing can be changed guided vehicle road attribute dynamic Adjust threshold setting method.
Background technique
The key node of urban road network is intersection, in a limited space in, vehicular traffic collaborated, interweaved, The process of shunting results in the situation and phenomenon of traffic network complexity, becomes the bottleneck of city road network.Recently as city Change progress faster, urban transportation starts to highlight tidal phenomena, and each turning traffic flow of Intersection at Grade of Urban Road would generally be in Reveal unbalanced dynamic change characterization, intersection more apparent for each turning traffic flow dynamic fluctuation, traditional signal is matched When adjustment will no longer be applicable in, generally all entire intersection time-space distribution can be caused using unbalanced because green light phase increases, It is obvious that path resource reconfigures demand.
Variable guided vehicle road adjusts the dynamic of lane turning function, changes lane proportion, to adapt to each turning traffic flow The dynamic fluctuation of demand, promotes road time-space distribution utilization efficiency, and traffic congestion is alleviated in part.But variable guided vehicle road It not " can be changed at any time everywhere ", it is necessary to comprehensively consider many factors, could really play a role.Wherein, it can be changed guided vehicle road The problem of attribute dynamic adjustment threshold value setting condition becomes urgent need to resolve.
Summary of the invention
Goal of the invention: for the above problem of the existing technology, the present invention provides a kind of signal control level-crossing Variable guided vehicle road attribute dynamic adjustment threshold setting method.This method respectively turns to vehicle flowrate space-time point according to crossing inlet road The unbalanced feature of cloth, it is determined that variable guided vehicle road attribute changes threshold value, optimizes entrance driveway time-space distribution utilization efficiency, Jin Erti Intersection efficiency is risen, traffic congestion is alleviated in part.
Technical solution: to achieve the purpose of the present invention, the technical scheme adopted by the invention is that:
A kind of variable guided vehicle road attribute dynamic adjustment threshold setting method of signal control level-crossing, this method include Following steps:
(1) intersection geometric parameter, signal control parameter and traffic data are acquired；
(2) variable guided vehicle road attribute change front and back straight and turning left lane group saturation volume rate is calculated separately；
(3) it establishes variable guided vehicle road attribute change threshold value and model is set；
(4) a straight traffic numerical quantity is fixed, calculates separately Through Lane group average traffic delay before and after attribute change, then into Row threshold model solves, and obtains its corresponding left-hand rotation threshold flow；
(5) determine whether required straight trip-left-hand rotation flow threshold group meets constraint condition；If being unsatisfactory for constraint condition, change Driving flow number is straightened, return step (4) executes；If meeting constraint condition, (6) are thened follow the steps；
(6) straight traffic flow and its corresponding left-hand rotation threshold flow are exported, judges that straight traffic numerical quantity changes number and is It is no to reach n times, if so then execute step (7), otherwise, step (4) are repeated to step (6), calculate separately out n Through Lane The corresponding variable guided vehicle road attribute change threshold value left-hand rotation flow of group vehicle flowrate；
(7) output meets each straight trip-left-hand rotation flow threshold group of constraint condition, carries out threshold curve fitting.
Further, before calculating threshold value, this method includes implementation condition setting:
(1) towards three tunnels and the above intersection, the left-hand rotation dedicated Lanes of setting one or more, and it is equipped with dedicated phase Position；
(2) can be changed guided vehicle road has and only one, and section all only has a kind of functional attributes at any time, i.e., at one Between can only be activated by a lane group in section, initial attribute be defaulted as keeping straight on；
(3) before and after variable guided vehicle road attribute change, signal control parameter does not change.
Further, in the step (1), the intersection geometric parameter for needing to acquire includes: that entrance driveway divides feelings Condition, original state left-hand rotation dedicated Lanes and Through Lane number are denoted as N respectivelyLAnd NS, the lane width of each lane group i is denoted as Wi (m)；Signal control parameter includes: signal period duration T (s)；The effective green time g of lane group ii(s)；Traffic data packet It includes: the cart rate B of lane group ii(%), the vehicle flowrate q of lane group ii(pcu/h), i=L, S, L indicate left-hand rotation dedicated Lanes group, S Indicate Through Lane group.
Further, in the step (2), signalized intersections straight trip bicycle road saturation volume rate is estimated as follows It calculates:
In formula, SS、SLRespectively straight trip and left turn lane group saturation volume rate (pcu/h)；BSFor the cart rate of Through Lane group (%), WSFor the lane width (m) of Through Lane group, NS、NLThe respectively number of track-lines of straight trip and left turn lane group, left turn lane Saturation volume rate SLIt is estimated by correction coefficient 0.95.
Further, in the step (3), it can be changed guided vehicle road attribute dynamic adjustment threshold value and model be set are as follows:
In formula, di(after variation) is the average traffic delay (s/ of each lane group i of entrance driveway after variable guided vehicle road attribute change pcu)； di(before variation) is the average traffic delay (s/pcu) of each lane group i of entrance driveway before variable guided vehicle road attribute change；M is Lane group number；α expression average traffic delay improvement coefficient, α ∈ (0,1].
It further, is that evaluation refers to average traffic delay before and after variable guided vehicle road attribute change in the step (4) Mark, lane group average traffic delay are estimated by ARRB model:
In formula, diFor the average traffic delay (s/pcu) of lane group i；T is the signal period (s)；λiFor the split of lane group i, λi=gi/ T, giFor the effective green time (s) of lane group i；yiFor the flow-rate ratio of lane group i, yi=qi/Si, qiFor lane group i Vehicle flowrate (pcu/h)；TfTo analyze phase (h)；ciFor the traffic capacity (pcu/h) of lane group i, ci=Siλi, SiFor lane group The saturation volume rate (pcu/h) of i；xiFor the saturation degree of lane group i, xi=qi/ci=qi/Siλi； x0iIt is lined up for average spilling approximate The saturation degree of lane group i, x when being 00i=0.67+Sigi/ 600, S hereiniUnit need to be scaled pcu/s；
Then, model is arranged in the variable guided vehicle road attribute change threshold value established in solution procedure (3), obtains a corresponding left side Group of changing trains or buses threshold value vehicle flowrate.
Further, in the step (5), constraint condition includes:
Wherein, xS、x′SThe saturation degree of Through Lane group before and after respectively variable guided vehicle road attribute change；xL、x′LRespectively For the saturation degree that can be changed guided vehicle road attribute change front and back left turn lane group；x0S、x0LRespectively variable guided vehicle road attribute change The before average saturation degree for overflowing straight and turning left lane group when queuing is approximately 0.
The utility model has the advantages that compared with prior art, technical solution of the present invention has technical effect beneficial below:
(1) present invention carries out dynamic calculating to each import lane group saturation volume rate before and after variable guided vehicle road attribute change, And fixed empirical value is not used, more meet the real-time current intelligence in intersection, and then precision is arranged in promotion threshold value；
(2) present invention estimates the delay of each import lane group vehicle of signalized intersections using ARRB average traffic delay model Meter, either under the conditions of low saturation condition or high saturation, which all has best applicability, to effectively mention It rises threshold value and precision is set；Third is that the present invention introduces average traffic delay before and after variable guided vehicle road attribute change in threshold value setting model Coefficient can effectively avoid the frequent variation of variable guided vehicle road attribute, drives to driver and brings unnecessary trouble.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is the variable guided vehicle road structural schematic diagram of the present invention；
Fig. 3 is that present example 2 can be changed guided vehicle road attribute change threshold curve figure.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention and beneficial effect are described in detail.
As shown in Figure 1, signal control level-crossing of the present invention can be changed guided vehicle road attribute dynamic adjustment threshold value Setting method includes the following steps:
(1) implementation condition is set, as shown in Fig. 2, including the following steps:
Step 1, it towards three tunnels and the above intersection, the left-hand rotation dedicated Lanes of setting one or more, and is equipped with special Use phase；The phase of signal lamp gives the time let pass accordingly aiming at the traffic flow of different directions, is exactly phase.
Step 2, variable guided vehicle road has and only one, and section all only has a kind of functional attributes at any time, i.e., one It can only (in a period of time, variable guided vehicle road can only have an attribute, directly by the activation of lane group in a period Row turns left, and is exactly attribute to keep straight on by the activation of Through Lane group, is exactly to turn left by the activation of left turn lane group), initial category Property is defaulted as keeping straight on；
Step 3, before and after variable guided vehicle road attribute change, signal control parameter does not change.
(2) threshold setting method, comprising the following steps:
Step 1, intersection geometric parameter, signal control parameter and basic traffic data are acquired.It needs to acquire Intersection geometric data includes: entrance driveway dividing condition, and original state left-hand rotation dedicated Lanes and Through Lane number are denoted as N respectivelyL And NS, the lane width of each lane group i is denoted as Wi(m)；I=L, S, L indicate left-hand rotation dedicated Lanes group, and S indicates Through Lane group； Signal control parameter includes: signal period duration T (s)；The effective green time g of lane group ii(s)；Traffic data includes: vehicle The cart rate B of road group ii(%), the vehicle flowrate q of lane group ii(pcu/h).Wherein, lane group refers to identical function Lane combination, cart refer to truck, bus etc..
Step 2, the variable each lane group saturation volume rate S in guided vehicle road attribute change front and back is estimated as followsi:
In formula, SS、SLRespectively straight trip and left turn lane group saturation volume rate (pcu/h)；BSFor the cart rate of Through Lane group (%), WSFor the lane width (m) of Through Lane group, NS、NLThe respectively number of track-lines of straight trip and left turn lane group, left turn lane Group saturation volume rate SLIt is estimated by correction coefficient 0.95.Left turn lane group is since turning limits, saturation volume rate and straight traffic Road group will be different, and correction coefficient refers to relative to Through Lane group saturation volume rate.
Step 3, it is as follows to establish variable guided vehicle road attribute change threshold model:
In formula, di(after variation) is the average traffic delay of each lane group i of entrance driveway after variable guided vehicle road attribute change (s/pcu)；diThe average traffic delay (s/pcu) of each lane group i of entrance driveway before (before variation) is variable guided vehicle road attribute change； M is lane group number；α expression average traffic delay improvement coefficient, α ∈ (0,1].
Step 4, the wagon flow numerical quantity for fixing a Through Lane group calculates separately Through Lane group vehicle before and after attribute change It is delayed, then carries out threshold model solution, obtains its corresponding left turn lane group threshold value vehicle flowrate；
Using average traffic delay before and after variable guided vehicle road attribute change as evaluation index, lane group average traffic delay presses ARRB (Australian Road Research Board) model is estimated: a Through Lane group vehicle flowrate is given, by as follows (there are two attributes for variable guided vehicle road, can be straight trip or left-hand rotation for formula computation attribute variation front and back；Attribute change is exactly this The conversion of two states) Through Lane group average traffic delay:
In formula, diFor the average traffic delay (s/pcu) of lane group i；T is the signal period (s)；λiFor the split of lane group i, λi=gi/ T, giFor the effective green time (s) of lane group i；yiFor the flow-rate ratio of lane group i, yi=qi/Si, qiFor lane group i Vehicle flowrate (pcu/h)；TfTo analyze phase (h), the analysis phase refers to the length of time of observation traffic flow, such as observation 15min, obtains To traffic flow size be exactly traffic flow size in the analysis phase, the analysis phase is just 15min；If observing 1h, the phase is analyzed just For 1h；ciFor the traffic capacity (pcu/h) of lane group i, ci=Siλi, SiFor the saturation volume rate (pcu/h) of lane group i；xiFor vehicle The saturation degree of road group i, xi=qi/ci=qi/Siλi；x0iFor the average saturation degree for overflowing lane group i when queuing is approximately 0, x0i= 0.67+Sigi/ 600, S hereiUnit need to be scaled pcu/s.
Further, it by model in step 3, is solved, obtains corresponding left turn lane group threshold value vehicle flowrate.
Step 5, determine whether required straight trip-left turn lane group vehicle flowrate sets of threshold values meets constraint condition；If being unsatisfactory for about Beam condition, then change Through Lane group wagon flow numerical quantity, and return step (4) executes；If meeting constraint condition, then follow the steps (6)；
Required straight trip-left turn lane group vehicle flowrate sets of threshold values is determined by following constraint condition:
Wherein, xS、x′SThe saturation degree of Through Lane group before and after respectively variable guided vehicle road attribute change；xL、x′LRespectively For the saturation degree that can be changed guided vehicle road attribute change front and back left turn lane group；x0S、x0LRespectively variable guided vehicle road attribute change The before average saturation degree for overflowing straight and turning left lane group when queuing is approximately 0.
Step 6, Through Lane group vehicle flowrate and its corresponding left turn lane group threshold value vehicle flowrate are exported, judges Through Lane Group wagon flow numerical quantity changes whether number reaches n times, if so then execute step (7), otherwise, repeats step (4) to step (6), Calculate separately out the corresponding variable guided vehicle road attribute change threshold value left turn lane group vehicle flowrate of n Through Lane group vehicle flowrate.
Wherein, n is limited, if change step is selected as 1, n and is selected as 1000, then Through Lane group vehicle flowrate changes model It encloses for [0,1000].
Step 7, output meets each straight trip-left turn lane group vehicle flowrate sets of threshold values of constraint condition, and it is quasi- to carry out threshold curve It closes.
Embodiment 1:
By taking certain signalized crossing as an example, being specifically described intersection can be changed the dynamic adjustment threshold value setting of guided vehicle road attribute Method.
1) through investigating, original state intersection master data is as shown in table 1:
1 intersection master data of table
NL NS BS WS T gS gL
1 3 10% 3.5m 90s 30s 25s
2) according to formula (1) and relevant parameter method for solving, related data, which is brought into, can be calculated variable guided vehicle road attribute change Change each lane group parameter in front and back as shown in table 2 and table 3,
Each lane group parameter before 2 attribute change of table
Each lane group parameter after 3 attribute change of table
3) Through Lane group vehicle flowrate q is givenS=1000 (pcu/h), selecting the analysis phase is 1h, and related data brings formula into (2) it can be calculated, before and after attribute change, Through Lane group average traffic delay is respectively dS=24.5 (s/pcu)；d′S=30.4 (s/ pcu)；
4) according to threshold model, the relevant parameter 2) with 3) solution is brought into, when taking α=1, solution obtains left turn lane group vehicle Flow qL=401 (pcu/h)；When taking α=0.95, solution obtains left turn lane group vehicle flowrate qL=416 (pcu/h)；Take α=0.9 When, solution obtains left turn lane group vehicle flowrate qL=427 (pcu/h)；
5) change Through Lane group vehicle flowrate, find out its corresponding left turn lane group vehicle flowrate respectively, verify constraint condition, Threshold curve is drawn, as shown in figure 3, left-hand rotation flow refers to that left turn lane group vehicle flowrate, straight trip flow refer to Through Lane group vehicle in figure Flow, alpha indicate that average traffic delay improves factor alpha.

Claims (7)

1.一种信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，该方法包括如下步骤：A method for setting a dynamic control threshold of a variable guidance lane attribute of a signal control plane intersection, characterized in that the method comprises the following steps: (1)对交叉口几何参数、信号控制参数及交通数据进行采集；(1) collecting intersection geometric parameters, signal control parameters and traffic data; (2)分别计算可变导向车道属性变化前后直行和左转车道组饱和流率；(2) Calculate the saturated flow rate of the straight-line and left-turn lane groups before and after the change of the variable guide lane property; (3)建立可变导向车道属性变化阈值设置模型；(3) Establish a variable guidance lane property change threshold setting model; (4)固定一个直行车流量数值，分别计算属性变化前后直行车道组车均延误，再进行阈值模型求解，得到其对应的左转阈值流量；(4) Fix a straight traffic flow value, calculate the delay of the straight lane group before and after the attribute change, and then solve the threshold model to obtain the corresponding left turn threshold flow; (5)判定所求直行-左转流量阈值组是否满足约束条件；若不满足约束条件，则改变直行车流量数值，返回步骤(4)执行；若满足约束条件，则执行步骤(6)；(5) determining whether the straight-left flow threshold group meets the constraint condition; if the constraint condition is not met, changing the straight traffic flow value, returning to step (4) to execute; if the constraint condition is met, performing step (6); (6)输出直行车流量及其对应的左转阈值流量，判断直行车流量数值改变次数是否达到n次，若是则执行步骤(7)，否则，重复步骤(4)至步骤(6)，分别计算出n个直行车道组车流量对应的可变导向车道属性变化阈值左转流量；(6) Output the straight traffic flow and its corresponding left-turn threshold flow rate, determine whether the number of changes in the straight traffic flow value reaches n times, and if yes, perform step (7); otherwise, repeat steps (4) to (6), respectively Calculating the variable guide lane attribute change threshold left turn flow corresponding to the traffic flow of the n straight lane groups; (7)输出满足约束条件的各直行-左转流量阈值组，进行阈值曲线拟合。(7) Output each straight-left flow threshold group that satisfies the constraint condition, and perform threshold curve fitting. 2.根据权利要求1所述的一种信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，计算阈值前，该方法包括实施条件设置：2 . The method according to claim 1 , wherein before the calculating the threshold, the method comprises: implementing condition setting: (1)面向三路及以上交叉口，设置一条及以上的左转专用车道，并设有左转专用相位；(1) For the intersection of three roads and above, set one or more left-turn lanes, and set a dedicated phase for left turn; (2)可变导向车道有且仅有一条，在任何时间段都只有一种功能属性，即在一个时间段内只能被一条车道组激活，初始属性默认为直行；(2) There is one and only one variable guidance lane. There is only one functional attribute in any time period, that is, it can only be activated by one lane group in a time period, and the initial attribute defaults to straight line; (3)在可变导向车道属性变化前后，信号控制参数不发生改变。(3) The signal control parameters do not change before and after the variable guide lane property changes. 3.根据权利要求1所述的信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，在所述的步骤(1)中，需要采集的交叉口几何参数包括：进口道划分情况，初始状态左转专用车道和直行车道数分别记为NL和NS，各车道组i的车道宽度记为Wi(m)；信号控制参数包括：信号周期时长T(s)；车道组i的有效绿灯时间gi(s)；交通数据包括：车道组i的大车率Bi(％)，车道组i的车流量qi(pcu/h)，i＝L,S，L表示左转专用车道组，S表示直行车道组。The method for setting a variable control lane attribute dynamic adjustment threshold of a signal control plane intersection according to claim 1, wherein in the step (1), the geometric parameters of the intersection to be collected include: an entrance road Dividing the situation, the initial state left turn dedicated lane and straight lane number are recorded as N L and N S respectively, the lane width of each lane group i is recorded as W i (m); the signal control parameters include: signal period duration T(s); The effective green time g i (s) of the lane group i; the traffic data includes: the traffic rate B i (%) of the lane group i, the traffic volume q i (pcu/h) of the lane group i, i=L, S, L represents a left-turn dedicated lane group, and S represents a straight lane group. 4.根据权利要求1所述的信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，在所述的步骤(2)中，信号交叉口直行单车道饱和流率按如下公式估算：4 . The method of claim 1 , wherein in the step (2), the single-lane saturated flow rate of the signalized intersection is as follows: Formula estimate: 式中，SS、SL分别为直行及左转车道组饱和流率(pcu/h)；BS为直行车道组的大车率(％)，WS为直行车道组的车道宽度(m)，NS、NL分别为直行及左转车道组的车道数，左转车道饱和流率SL按校正系数0.95进行估算。Where S S and S L are the straight flow and left turn lane group saturation flow rate (pcu/h); B S is the straight traffic rate (%) of the straight lane group, and W S is the lane width of the straight lane group (m ), N S and N L are the number of lanes of the straight-through and left-turn lane groups, respectively, and the left-turn lane saturation flow rate S L is estimated by a correction coefficient of 0.95. 5.根据权利要求1所述的信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，在所述的步骤(3)中，可变导向车道属性动态调整阈值设置模型为：The method for setting a variable control lane attribute dynamic adjustment threshold of a signal control plane intersection according to claim 1, wherein in the step (3), the variable guidance lane attribute dynamic adjustment threshold setting model is : 式中，di(变化后)为可变导向车道属性变化后进口道各车道组i的车均延误(s/pcu)；di(变化前)为可变导向车道属性变化前进口道各车道组i的车均延误(s/pcu)；m为车道组数；α表示车均延误改善系数，α∈(0,1]。Where, d i (after change) is the vehicle average delay (s/pcu) of each lane group i of the inlet lane after the variable guidance lane property change; d i (before the change) is the variable guide lane property before the change of the inlet lane Cars in lane group i are delayed (s/pcu); m is the number of lanes; α is the vehicle's average delay improvement coefficient, α∈(0,1). 6.根据权利要求1所述的信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，在所述的步骤(4)中，以可变导向车道属性变化前后车均延误为评价指标，车道组车均延误按ARRB模型进行估算：The method for setting a variable control lane attribute dynamic adjustment threshold of a signal control plane intersection according to claim 1, wherein in the step (4), the vehicle average delay before and after the variable lane change is changed. In order to evaluate the indicators, the lane group car delays are estimated according to the ARRB model: 式中，di为车道组i的车均延误(s/pcu)；T为信号周期(s)；λi为车道组i的绿信比，λi＝gi/T，gi为车道组i的有效绿灯时间(s)；yi为车道组i的流量比，yi＝qi/Si，qi为车道组i的车流量(pcu/h)；Tf为分析期(h)；ci为车道组i的通行能力(pcu/h)，ci＝Siλi，Si为车道组i的饱和流率(pcu/h)；xi为车道组i的饱和度，xi＝qi/ci＝qi/Siλi；x0i为平均溢出排队近似为0时车道组i的饱和度，x0i＝0.67+Sigi/600，此处Si单位需换算为pcu/s；Where d i is the vehicle average delay (s/pcu) of lane group i; T is the signal period (s); λ i is the green signal ratio of lane group i, λ i = g i /T, g i is the lane The effective green time (s) of group i; y i is the flow ratio of lane group i, y i =q i /S i , q i is the traffic volume of lane group i (pcu/h); T f is the analysis period ( h); c i is the traffic capacity (pcu/h) of the lane group i, c i =S i λ i , S i is the saturated flow rate (pcu/h) of the lane group i; x i is the saturation of the lane group i Degree, x i =q i /c i =q i /S i λ i ;x 0i is the saturation of the lane group i when the average overflow queuing is approximately 0, x 0i =0.67+S i g i /600, here The S i unit needs to be converted to pcu/s; 然后，求解步骤(3)中建立的可变导向车道属性变化阈值设置模型，得到对应的左转车道组阈值车流量。Then, the variable guide lane attribute change threshold setting model established in step (3) is solved, and the corresponding left turn lane group threshold traffic volume is obtained. 7.根据权利要求1所述的信号控制平面交叉口可变导向车道属性动态调整阈值设置方法，其特征在于，在所述的步骤(5)中，约束条件包括：The method for setting a variable control lane attribute dynamic adjustment threshold of a signal control plane intersection according to claim 1, wherein in the step (5), the constraint condition comprises: 其中，xS、x′S分别为可变导向车道属性变化前后直行车道组的饱和度；xL、x′L分别为可变导向车道属性变化前后左转车道组的饱和度；x0S、x0L分别为可变导向车道属性变化之前平均溢出排队近似为0时直行和左转车道组的饱和度。Where x S and x′ S are the saturations of the straight lane group before and after the variable lane change, respectively; x L and x′ L are the saturations of the left turn lane group before and after the variable lane change, respectively; x 0S , x 0L is the saturation of the straight and left turn lane groups when the average overflow queue is approximately 0 before the variable guide lane property change.
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