CN109712397A - Motorway journeys Time Estimation Method based on GM following-speed model - Google Patents
Motorway journeys Time Estimation Method based on GM following-speed model Download PDFInfo
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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
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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Abstract
The present invention provides a kind of motorway journeys Time Estimation Method based on GM following-speed model, the measured data that will test device demarcates traffic flow micromodel, by the traffic microscopic motion attribute in virtual vehicle following feature analysis section, and then realize the estimation of journey time；This method can be realized the estimation to Link Travel Time, be obviously improved data granularity, while can guarantee the travel time estimation precision under congestion, meet requirement of the current fining traffic control to support data.
Description
Technical field
The present invention relates to a kind of motorway journeys Time Estimation Methods based on GM following-speed model.
Background technique
Journey time is the important parameter index in traffic circulation control, can characterize traffic congestion level, auxiliary trip
Person makes trip decision-making.The acquisition of journey time, including mobile detection (such as Floating Car) and fixed detection (as based on number
The Data Matching of board identification).Mobile traffic data collection mode can be directly obtained travel time data, but exist
The problems such as sample size is insufficient, journey time fluctuation is excessive.And fixed traffic data collection mode is due to that can not directly acquire
Travel time data needs to tap into come between by the collected road traffic flow parameter of detection device (flow, speed, occupation rate)
Row travel time estimation.The latter is also the current main method for obtaining this parameter of journey time.
Realize that there are many model of travel time estimation, travel speed is all to realize travel time estimation in this class model
Key parameter is the most typically exactly that mean value method is estimated, i.e. journey time=road section length/road-section average travel speed, and
Also there is different definition to section average overall travel speed in different models, such as is set out with upstream and downstream in vehicle and detected constantly
Velocity amplitude arithmetic average as road average-speed (Instantaneous model), also have model (Time-Slice
Model) follow moment angle correction optimizes average speed.This class model establish this continuous hypothesis of speed it
On, but this is clearly a kind of more "ball-park" estimate.Travel speed of the vehicle on section has apparent fluctuation, average speed
Degree can not retain the most information in vehicle operation.Especially under congestion, the estimated value and true value of model have
There is biggish difference.
The above problem should be paid attention to and be solved the problems, such as during motorway journeys time Estimate.
Summary of the invention
In view of this above defect, the object of the present invention is to provide when a kind of motorway journeys based on GM following-speed model
Between estimation method, to solve how to promote the precision of congestion down stroke time Estimate, to solve the estimation of existing model
Value has the problem of biggish difference with true value.
The technical solution of the invention is as follows:
A kind of motorway journeys Time Estimation Method based on GM following-speed model, will test the measured data of device to traffic
Stream micromodel is demarcated, and by the traffic microscopic motion attribute in virtual vehicle following feature analysis section, and then realizes row
The estimation of journey time；Include the following steps,
S1, the traffic of section is corresponded to from the detector acquisition for being respectively arranged in the upstream endpoint Sa in section, downstream endpoint Sb
Detection data, the Data Detection time interval of detector are Ti；
With with the vehicle VF that speeds, two vehicle initial positions are located at upstream endpoint Sa, downstream endpoint by S2, setting virtual preamble vehicle VL
Sb, initial time T0, the space headway of two vehicle of moment is road section length L；
S3, virtual preamble vehicle VL and the operation characteristic with the vehicle VF that speeds are defined；
S4, determine virtual preamble vehicle VL in the operating parameter of moment t according to the operating parameter of a upper time interval；
S5, based on GM following-speed model building with speed vehicle VF section upstream endpoint Sa to downstream endpoint Sb driving trace；
S6, VF is described in the current behavior of section whole process by step S4, S5, data granularity reaches Δ T, section row
Sailing initial time is T0, sections of road finish time is Tb, i.e.,Link Travel Time Estimation value TT=Tb-T0。
Further, in step S3, virtual preamble vehicle VL and the operation characteristic with the vehicle VF that speeds are defined, specifically, before virtual
Guide-car VL passage do not influenced by other vehicles, with speed vehicle VF during driving towards downstream endpoint Sb its travel speed by virtual
The influence of preceding guide-car VL；Before reaching downstream endpoint Sb with the vehicle VF that speeds, the operating range of two vehicle of t is respectively at any one timeSpace headway
Further, in step S4, determine virtual preamble vehicle VL moment t's according to the operating parameter of a upper time interval
Operating parameter, including travel speed, operating range.
Further, in step S4, determine virtual preamble vehicle VL in the travel speed of moment tSpecifically,Wherein t ∈ [Ti,Ti+1],Respectively it is installed on section downstream endpoint Sb point
Detector is in time interval Ti、Ti+1The average overall travel speed of detection.
Further, in step S4, operating range of the virtual preamble vehicle VL in moment tSpecifically,Wherein Δ T is the time interval that operating parameter updates in GM following-speed model,Travel speed of the respectively preceding guide-car VL at the t- Δ T moment, operating range.
Further, it in step S5, is constructed with the vehicle VF that speeds based on GM following-speed model in section upstream endpoint Sa to downstream
The driving trace of point Sb is described using travel speed, acceleration, operating range, specifically, with detector upstream endpoint Sa first
Begin moment T0The average overall travel speed of detection carries out initialization process to the speed with the vehicle VF that speeds；It determines with the vehicle VF that speeds in moment t
Operating parameter, including travel speed, acceleration, operating range；
Wherein, with speed vehicle VF t moment real time running speedCalculation formula are as follows:Formula
InRespectively with speed, acceleration of the vehicle VF in moment t- Δ T of speeding, VF real time accelerationIt is specific to calculate
Formula are as follows:L is space headway index in formula, and m is Rate Index, αl,mFor spirit
Sensitivity,Respectively preceding guide-car VL with operating range of the vehicle VF at the t- Δ T moment of speeding, wherein with the traveling for vehicle of speeding
DistanceCalculation formula are as follows:In formula,For with the vehicle VF that speeds at the t- Δ T moment
Operating range, Δ T be GM following-speed model in operating parameter update time interval,Respectively exist with the vehicle VF that speeds
The speed, acceleration of moment t- Δ T.
The beneficial effects of the present invention are:
One, motorway journeys Time Estimation Method of this kind based on GM following-speed model, by traffic flow micromodel application
It is applied in microcosmic following-speed model into travel time estimation, while to the traffic flow section detection data under macro environment,
By describing virtual virtual preamble vehicle with the movement properties for vehicle of speeding, the estimation to Link Travel Time is realized.
Two, motorway journeys Time Estimation Method of this kind based on GM following-speed model, for a kind of novel journey time
Estimation method, using traffic flow micromodel, to journey time, this macro-indicators is estimated, when the purpose is to improve stroke
Between estimate model performance stability, especially promoted congestion down stroke time Estimate precision so that model is in difference
Traffic noise prediction under can export reliable travel time estimation result；The method of the present invention Improving Expressway journey time
Estimate that accuracy effect is obvious, precision is able to ascend 1.62% under unimpeded situation, and accuracy is promoted under congestion
6.66%.Three, the motorway journeys Time Estimation Method of the invention based on GM following-speed model, with the macro of detector actual measurement
Traffic flow parameter data are seen to demarcate traffic flow micromodel, it is micro- by the traffic in virtual vehicle following feature analysis section
Movement properties are seen, the estimation to Link Travel Time is realized on this basis, is obviously improved data granularity, while can guarantee
Travel time estimation precision under congestion meets requirement of the current fining traffic control to support data.
Detailed description of the invention
Fig. 1 is the process signal of motorway journeys Time Estimation Method of the embodiment of the present invention based on GM following-speed model
Figure.
Fig. 2 is that virtual preamble vehicle VL is arranged in embodiment and illustrates schematic diagram with the vehicle VF that speeds.
Fig. 3 is the contrast schematic diagram of the travel time estimation value and true value that obtain in embodiment.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
A kind of motorway journeys Time Estimation Method based on GM following-speed model, will test the measured data of device to traffic
Stream micromodel is demarcated, and by the traffic microscopic motion attribute in virtual vehicle following feature analysis section, and then realizes row
The estimation of journey time；Such as Fig. 1, specific steps are as follows:
S1, the traffic of section is corresponded to from the detector acquisition for being respectively arranged in the upstream endpoint Sa in section, downstream endpoint Sb
Detection data, including flow, average overall travel speed and occupation rate, the Data Detection time interval of detector are Ti, such as Fig. 2.
With with the vehicle VF that speeds, two vehicle initial positions are located at upstream endpoint Sa, downstream endpoint by S2, setting virtual preamble vehicle VL
Sb, initial time T0, the space headway of two vehicle of moment is road section length L.
S3, the operation characteristic for defining VL and VF, virtual preamble vehicle VL passage are not influenced by other vehicles, and with speeding, vehicle VF is sailed
It is influenced to its travel speed during downstream endpoint Sb by virtual preamble vehicle VL；Before VF reaches downstream endpoint Sb,
The operating range of two vehicle of t is respectively at any one timeSpace headway
S4, determine virtual preamble vehicle VL in the operating parameter of moment t, including row according to the operating parameter of a upper time interval
Sail speed, operating range；In the travel speed of moment tCalculation formula are as follows:Wherein t ∈
[Ti,Ti+1],The detector of section downstream endpoint Sb point is respectively installed in time interval Ti、Ti+1Detection is put down
Equal travel speed；Operating range of the VL in moment tCalculation formula are as follows:Wherein,Travel speed of the respectively preceding guide-car VL at the t- Δ T moment, operating range, Δ T are to run in GM following-speed model
The time interval that parameter updates, in embodiment Δ T=0.1s.
S5, based on GM following-speed model building with speed vehicle VF section upstream endpoint Sa to downstream endpoint Sb driving trace,
It is described using travel speed, acceleration, operating range, specifically, carving T at the beginning with detector upstream endpoint Sa0Detection
Average overall travel speed carries out initialization process to the speed with the vehicle VF that speeds；Determine with speed vehicle VF moment t operating parameter, including
Travel speed, acceleration, operating range.
Wherein, with speed vehicle VF t moment real time running speedCalculation formula are as follows:Formula
In Chinese styleRespectively with speed, acceleration of the vehicle VF in moment t- Δ T of speeding, real time accelerationSpecific meter
Calculate formula are as follows:L is space headway index in formula, and value range is [- Isosorbide-5-Nitrae],
M is Rate Index, and value range is [- 2,2], αl,mFor sensitivity,Respectively preceding guide-car VL with the vehicle VF that speeds
In the operating range at t- Δ T moment, wherein with the operating range for vehicle of speedingCalculation formula are as follows:In formula,For with operating range of the vehicle VF at the t- Δ T moment of speeding, Δ T is GM
The time interval that operating parameter updates in following-speed model,Respectively with speed vehicle VF moment t- Δ T speed, plus
Speed.
It should be noted that above-mentioned parameter l, m, αl,mAccording to traffic circulation state value；Parameter l, m under freestream conditions,
αl,mValue scheme specifically: l=0.5, m=0.8, αl,m=12, the value scheme under congestion status is l=1, m=0.1, αl,m
=8.
S6, VF can be described in the current behavior of section whole process by step S4, S5, data granularity reaches Δ T, road
Section traveling initial time is T0, sections of road finish time is Tb, i.e.,Link Travel Time Estimation value TT=Tb-T0。
Motorway journeys Time Estimation Method of this kind based on GM following-speed model, is applied to row for traffic flow micromodel
In journey time Estimate, while the traffic flow section detection data under macro environment is applied in microcosmic following-speed model, is passed through
Virtual virtual preamble vehicle and the movement properties with vehicle of speeding are described, realizes the estimation to Link Travel Time.Such as Fig. 3, the present invention
The method can effective Improving Expressway travel time estimation accuracy, precision is able to ascend under unimpeded situation
1.62%, accuracy promotes 6.66% under congestion.
The motorway journeys Time Estimation Method based on GM following-speed model of embodiment, for a kind of novel journey time
Estimation method, using traffic flow micromodel, to journey time, this macro-indicators is estimated, when the purpose is to improve stroke
Between estimate model performance stability, especially promoted congestion down stroke time Estimate precision so that model is in difference
Traffic noise prediction under can export reliable travel time estimation result.
Motorway journeys Time Estimation Method of this kind based on GM following-speed model, the macro-traffic surveyed with detector
Stream supplemental characteristic demarcates traffic flow micromodel, by the traffic microscopic motion in virtual vehicle following feature analysis section
Attribute realizes the estimation to Link Travel Time on this basis, is obviously improved data granularity, while can guarantee in congestion
Travel time estimation precision under situation meets requirement of the current fining traffic control to support data.
Claims (6)
1. a kind of motorway journeys Time Estimation Method based on GM following-speed model, it is characterised in that: will test the actual measurement of device
Data demarcate traffic flow micromodel, analyze the traffic microscopic motion attribute in section by virtual vehicle following feature,
And then realize the estimation of journey time；Include the following steps,
S1, the Vehicle Detection of section is corresponded to from the detector acquisition for being respectively arranged in the upstream endpoint Sa in section, downstream endpoint Sb
Data, the Data Detection time interval of detector are Ti；
With with the vehicle VF that speeds, two vehicle initial positions are located at upstream endpoint Sa, downstream endpoint Sb by S2, setting virtual preamble vehicle VL,
Initial time is T0, the space headway of two vehicle of moment is road section length L；
S3, virtual preamble vehicle VL and the operation characteristic with the vehicle VF that speeds are defined；
S4, determine virtual preamble vehicle VL in the operating parameter of moment t according to the operating parameter of a upper time interval；
S5, based on GM following-speed model building with speed vehicle VF section upstream endpoint Sa to downstream endpoint Sb driving trace；
S6, VF is described in the current behavior of section whole process by step S4, S5, data granularity reaches Δ T, and sections of road rises
Moment beginning is T0, sections of road finish time is Tb, i.e.,Link Travel Time Estimation value TT=Tb-T0。
2. as described in claim 1 based on the motorway journeys Time Estimation Method of GM following-speed model, it is characterised in that: step
In rapid S3, virtual preamble vehicle VL and the operation characteristic with the vehicle VF that speeds are defined, specifically, virtual preamble vehicle VL is current not by other vehicles
Influence, with the vehicle VF influence of its travel speed by virtual preamble vehicle VL during driving towards downstream endpoint Sb of speeding；With
It speeds before vehicle VF arrival downstream endpoint Sb, the operating range of two vehicle of t is respectively at any one timeSpace headway
3. as described in claim 1 based on the motorway journeys Time Estimation Method of GM following-speed model, it is characterised in that: step
In rapid S4, determine virtual preamble vehicle VL in the operating parameter of moment t, including traveling speed according to the operating parameter of a upper time interval
Degree, operating range.
4. as claimed in claim 3 based on the motorway journeys Time Estimation Method of GM following-speed model, it is characterised in that: step
In rapid S4, determine virtual preamble vehicle VL in the travel speed of moment tSpecifically,Wherein
t∈[Ti,Ti+1],The detector of section downstream endpoint Sb point is respectively installed in time interval Ti、Ti+1Detection
Average overall travel speed.
5. as claimed in claim 3 based on the motorway journeys Time Estimation Method of GM following-speed model, it is characterised in that: step
In rapid S4, operating range of the virtual preamble vehicle VL in moment tSpecifically,Wherein
Δ T is the time interval that operating parameter updates in GM following-speed model,Respectively preceding guide-car VL is at the t- Δ T moment
Travel speed, operating range.
6. the motorway journeys Time Estimation Method as described in any one in claim 1-5 based on GM following-speed model, special
Sign is: in step S5, based on GM following-speed model building with speed vehicle VF section upstream endpoint Sa to downstream endpoint Sb traveling
Track is described using travel speed, acceleration, operating range, specifically, carving T at the beginning with detector upstream endpoint Sa0Inspection
The average overall travel speed of survey carries out initialization process to the speed with the vehicle VF that speeds；Determine with speed vehicle VF moment t operating parameter,
Including travel speed, acceleration, operating range；
Wherein, with speed vehicle VF t moment real time running speedCalculation formula are as follows:In formulaRespectively with speed, acceleration of the vehicle VF in moment t- Δ T of speeding, VF real time accelerationIt is specific to calculate public affairs
Formula are as follows:L is space headway index in formula, and m is Rate Index, αl,mIt is sensitive
Degree,Respectively preceding guide-car VL with operating range of the vehicle VF at the t- Δ T moment of speeding, wherein with vehicle of speeding traveling away from
FromCalculation formula are as follows:In formula,For with the vehicle VF that speeds at the t- Δ T moment
Operating range, Δ T are the time interval that operating parameter updates in GM following-speed model,Respectively with speed vehicle VF when
Carve the speed, acceleration of t- Δ T.
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Cited By (2)
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| WO2020151287A1 (en) * | 2019-01-22 | 2020-07-30 | 江苏智通交通科技有限公司 | Highway travel time estimation method based on gm car following model |
| CN111681412A (en) * | 2020-04-24 | 2020-09-18 | 安徽科力信息产业有限责任公司 | Method for evaluating prediction precision of travel time required between any two points of expressway |
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| WO2020151287A1 (en) | 2020-07-30 |
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