CN109767625A - Recognition methods is overflowed in a kind of short lane queuing in intersection based on the alert data of electricity - Google Patents
Recognition methods is overflowed in a kind of short lane queuing in intersection based on the alert data of electricity Download PDFInfo
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- CN109767625A CN109767625A CN201910201547.0A CN201910201547A CN109767625A CN 109767625 A CN109767625 A CN 109767625A CN 201910201547 A CN201910201547 A CN 201910201547A CN 109767625 A CN109767625 A CN 109767625A
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Abstract
It is lined up the present invention relates to a kind of short lane in intersection based on the alert data of electricity and overflows recognition methods, comprising: 1) obtained the alert data of electricity and calculate the time headway of leaving away of vehicle；2) vehicle is combined by the timestamp information of stop line and calculates resulting time headway of leaving away, and description closes on spacing and time headway fluctuates double characteristic, and time headway sequence height of leaving away is identified with this, estimates the vehicle queue length on every lane；3) in the case of the different queue lengths in the short lane of analysis left-hand rotation and adjacent columns lane, the queuing overflow type that intersection may occur, and by whether block the traveling of vehicle on its adjacent lane and be finely divided.Based on the theoretical each lane queue length being calculated of Analysis of Changing Points, under different phase pass-through rules, recognizer is overflowed in the queuing for establishing rule-based formula respectively, to identify that different types of queuing overflow status, the present invention have many advantages, such as that queuing spilling classification is clear, input data is few, applicability is wide.
Description
Technical field
The present invention relates to field of traffic control more particularly to a kind of short lane in intersection based on the alert data of electricity to be lined up and overflow
Recognition methods.
Background technique
With the raising of national economy level, urban is because its traffic programme time limit is early, and auxiliary facility is far from
It is able to satisfy transport need.In peak period, the short lane of signalized intersections, which can occur to be lined up, overflows, i.e., queuing vehicle is more than its lane
Vehicle space is stored, the vehicle in other lanes is hindered so that it cannot pass through intersection on time, influences the dissipation flow rate of adjacent lane, from
And reduce intersection operational efficiency.To short lane be lined up overflow effective identification, can serve intersection traffic state estimation and
The optimization of signal timing plan, is of great significance.
Traditional queuing overflows recognition methods and is all based on loop data greatly, and one side coil checker is easily damaged and is not easy
Maintenance, another aspect accuracy of identification also will receive the influence of equipment damage or detection failure.Identification mould is overflowed in existing queuing
Type studies downstream intersection more and occurs to be lined up the influence overflowed and generate upstream intersection, is lined up and overflows to the short lane of Single Intersection
Research out is less.Existing short lane, which is lined up, overflows in research, assumes that arrival rate is Poisson distribution mostly, by probability theory side
Method calculates short lane and occurs to be lined up the probability overflowed.In addition, existing method not according to be lined up overflow brought by influence to its into
Row subdivision, and influence of the signal phase clearance sequence to spilling is lined up is not considered.In practical applications, the fleet for being lined up spilling is
Vehicle on no obstruction adjacent lane, directly affects the signal timing optimization in later period.In terms of Data Detection, as China is more next
The alert equipment of bayonet electricity has been laid in more cities, and the alert data of magnanimity electricity start to provide traffic information abundant for Vehicle Detection.Phase
Than in traditional fixed point detector, the alert data resolution of electricity is high, it can accurately record vehicle and sail out of information, and can be by comparing capture
License board information carry out trajectory reconstruction, maintenance is relatively easy to.Therefore, it establishes the queuing based on the alert data of electricity and overflows recognition methods pair
It has important practical significance in supplementing existing queuing spilling identification methodology.
Summary of the invention
In order to solve problems in the prior art, the present invention provides a kind of short lanes in intersection based on the alert data of electricity to be lined up
Recognition methods is overflowed, using the technical solution is as follows:
It is lined up the present invention provides a kind of short lane in intersection based on the alert data of electricity and overflows recognition methods, including following step
It is rapid:
According to the alert data of electricity, time headway information of leaving away is obtained, wherein the alert data of electricity include that vehicle passes through stop line
Timestamp information, the timestamp information include the departure time, direction number, lane number；
According to the timestamp information and time headway information of leaving away, by defined feature function with describe to close on spacing with
The characteristic of time headway fluctuation, time headway sequence height of leaving away is identified with this, and then in cycle estimator on every lane
Vehicle queue length；
The different queue length situations in the short lane of analysis left-hand rotation and adjacent columns lane are overflow in conjunction with the queuing that intersection occurs
Type out is based on each lane queue length of Analysis of Changing Points theoretical calculation, under different phase pass-through rules, establishes be based on respectively
Recognizer is overflowed in the queuing of phase pass-through rule, to identify different types of queuing overflow status.
Further, the time headway information of leaving away is obtained by following formula:
hi=pti+1-pti, wherein hiIndicate i-th of lane time headway, pti+1For i+1 vehicle on the lane
Timestamp, ptiIndicate leaving away the moment for i-th vehicle.
Optionally, the phase pass-through rule includes straight trip and the phase rule let pass simultaneously that turns left, and corresponding be lined up is overflow
Out recognizer the following steps are included:
S11, count each by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Lane passes through vehicle number；
S12, judge Through Lane queuing vehicle number NqtIt whether is more than that Through Lane stores vehicle space NBT, if being less than, turn
To S13；Otherwise go to S16；
S13, judge that left turn lane passes through vehicle number NLIt whether is more than that left turn lane stores vehicle space NBL, if being less than, turn left
Lane, which does not occur to be lined up, overflows, and terminates algorithm；Otherwise go to S14；
S14, judge left turn lane queuing vehicle number NqlIt whether is more than that left turn lane stores vehicle space NBL, left if being less than
It changes trains or buses not occur to be lined up to overflow, terminates algorithm；On the contrary then left turn lane, which occurs to be lined up, to be overflowed, and goes to S15；
S15, judge Through Lane queuing vehicle number NqtWhether it is equal to Through Lane and passes through vehicle number NT, if so, turning left
It is lined up after fleet without the through vehicles being blocked, left turn lane state is to be lined up to overflow and do not block at this time, terminates algorithm；Instead
It, then calculate Through Lane first non-queuing vehicleWith last queuing vehicle of left turn laneTime headway, sentence
Breaking, whether it is less than given threshold, overflows and blocks if so, left turn lane is lined up, terminates algorithm；Conversely, then left turn lane is arranged
Team overflows and does not block, and terminates algorithm；
S16, judge Through Lane queuing vehicle number NqtIt whether is more than that Through Lane stores vehicle space NT, if so, judgement is left
It changes trains or buses through vehicle number NLIt whether is more than that left turn lane stores vehicle space NBL, if being less than, S17 is gone to, otherwise goes to S18；
S17, judge left turn lane queuing vehicle number NqlWhether it is equal to left turn lane and passes through vehicle number NL, if so, straight trip
Lane, which is lined up, not to be blocked, and is terminated algorithm, otherwise is gone to S19；
S18, judge left turn lane queuing vehicle number NqlIt whether is more than that left turn lane stores vehicle space NL, if so, two directions
Lane, which occurs to be lined up, overflows, and goes to S110, otherwise goes to S19；
S19, left turn lane first non-queuing vehicle is calculatedWith last queuing vehicle of Through LaneHeadstock
When away from, judge whether it is less than given threshold, if so, Through Lane occur be lined up overflow and block, terminate algorithm；Conversely,
Then Through Lane, which is lined up, overflows and does not block, and terminates algorithm；
S110, calculate separately left turn lane, Through Lane store vehicle space in last vehicleIt is empty with vehicle is stored
Between outer first carTime headway δL、δT, such as δL< δT, then spilling of turning left and obstruction terminate algorithm；Such as
δL≥δT, then spilling of keeping straight on and obstruction terminate algorithm.
Optionally, the phase pass-through rule include first straight trip clearance rear left relay capable phase rule, corresponding queuing
Overflow recognizer the following steps are included:
S21, count each by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Lane passes through vehicle number；
S22, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and passes through vehicle number NT, if so, straight trip
Lane is unsaturated, and turns left not spilling over, and terminates algorithm；Conversely, going to S23；
S23, judge whether Through Lane is supersaturated, Rule of judgment includes:
First condition reaches Through Lane maximum 80% or more by vehicle number by vehicle number for Through Lane；
Second condition is the time difference that last vehicle opens the bright moment by moment and next period red light on Through Lane
Less than 5s；
Such as meet first condition and second condition, then Through Lane supersaturation, terminates algorithm, otherwise go to S24；
S24, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation nothing
It overflows, terminates algorithm；Otherwise go to S25；
S25, judging that two Through Lanes are lined up number with the presence or absence of difference, the queuing vehicle number of such as two Through Lanes is variant,
Then turn left to be lined up and overflow and block, terminates algorithm；Such as indifference, then turns left to be lined up and overflow and do not block, terminate algorithm.
Optionally, the phase pass-through rule includes straight trip and the phase rule let pass simultaneously that turns left after first straight trip clearance,
Corresponding queuing overflow recognizer the following steps are included:
S31, count each by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Lane passes through vehicle number；
S32, judge left turn lane queuing vehicle number NqlWhether it is greater than left turn lane and stores vehicle space NBL, if so, going to
S33；It is lined up and will not interfere conversely, then turning left in the straight trip clearance stage, terminate algorithm；
S33, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, if so, going to
S34；It is on the contrary then go to S35；
S34, judge whether two Through Lane queuing vehicle numbers variant, such as it is variant, then left turn lane be lined up overflow and
Obstruction terminates algorithm；It overflows and does not block conversely, left turn lane is lined up, terminate algorithm；
S35, judge whether left turn lane, Through Lane vehicle mutually stop, as fleet meets the following conditions:
hi< δ, wherein hiFor i-th and the time headway of i+1 straight traffic, wherein i=1,2,3 ..., Npt-1；δ
For time headway threshold value, then turn left, Through Lane is lined up spilling and does not block, end algorithm；Conversely, turning left, Through Lane
It is lined up and overflows and block, terminate algorithm.
Optionally, the phase pass-through rule includes the phase rule of clearance of keeping straight on after first turning left to let pass, corresponding queuing
Overflow recognizer the following steps are included:
S41, count each by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Lane passes through vehicle number；
S42, judge left turn lane queuing vehicle number NqlWhether it is equal to left turn lane and passes through vehicle number NL, if so, going to
S43, on the contrary go to S44；
S43, judge whether left turn lane is supersaturated, Rule of judgment includes:
First condition reaches Through Lane maximum 80% by vehicle number by vehicle number for left turn lane；
Second condition is the time difference that last vehicle opens the bright moment by moment and next period red light on Through Lane
Less than 5s；
Such as meet conditions above, then terminate algorithm, conversely, left-hand rotation is non-spill, terminates algorithm；
S44, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation nothing
It overflows, terminates algorithm；Otherwise S45 is gone to；
S45, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, if so, turning left to overflow
Out and do not block, terminates algorithm；Otherwise go to S46；
S46, judge whether the queuing vehicle number of two Through Lanes is variant, such as variant, then left turn lane, which is lined up, overflows
And block；It overflows and does not block conversely, left turn lane is lined up, terminate algorithm.
Optionally, the phase pass-through rule includes straight trip and the phase rule let pass simultaneously that turns left after first turning left to let pass,
Corresponding queuing overflow recognizer the following steps are included:
S51, count each by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Lane passes through vehicle number；
S52, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, if so, going to
S53；It is on the contrary then go to S56；
S53, judge that left turn lane passes through vehicle number NLWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation nothing
It overflows, terminates algorithm, otherwise go to S54；
S54, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation nothing
It overflows, terminates algorithm；It is on the contrary then go to S55；
S55, last queuing vehicle of left turn lane is calculatedWith first non-queuing vehicle of Through Lane's
Time headway, judges whether it is less than given threshold, overflows and blocks if so, left turn lane is lined up, terminates algorithm；Conversely,
Left turn lane, which is lined up, to be overflowed and does not block, and algorithm is terminated；
S56, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, going to
S57, on the contrary go to S58；
S57, last queuing vehicle of Through Lane is calculatedWith first non-queuing vehicle of left turn lane's
Time headway, judges whether it is less than given threshold, overflows and blocks if so, Through Lane is lined up, terminates algorithm；Conversely,
Through Lane overflows and does not block, and terminates algorithm；
S58, last vehicle in left turn lane storage vehicle space is calculatedFirst car outside vehicle space is stored with left turn laneTime headway, judge whether it is less than given threshold, if so, straight trip do not spill over, terminate algorithm；Otherwise straight trip row
Team overflows and blocks, and terminates algorithm.
Further, described according to the timestamp information and time headway information of leaving away, by defined feature function with
Description closes on the characteristic of spacing and time headway fluctuation, and time headway sequence height of leaving away, and then cycle estimator are identified with this
Vehicle queue length on interior every lane comprising following steps:
S61, according to the alert data of electricity, calculate in the period by vehicle number and time headway of leaving away；
S62, the queuing situation for identifying first car:
IfAnd Nk,n=1, then it is 1 in the queuing vehicle number of period n inside lane k, otherwise goes to
S63；
IfIt is then 0 in the queuing vehicle number of period n inside lane k；Wherein,For in period n
The timestamp information of first car on the k of lane；Gk,nIndicate that lane k, the green light of period n open the bright moment；Nk,nIndicate the alert number of electricity
Vehicle number is crossed in the total of period n according to the lane k recorded；ε1For time difference threshold value；
S63, the queuing situation for identifying second car:
IfIt is then 1 in the queuing vehicle number of period n inside lane k；
IfAnd Nk,n=2, then it is 2 in the queuing vehicle number of period n inside lane k, otherwise goes to
S64, whereinIt is the alert data record of electricity at the time of second car passes through stop line on period n inside lane k；
S64, pass through vehicle number in such as period greater than two, time headway sequence can be analyzed and seek height, it can
Defined function Fk,nTo describe critical gap and the double characteristic of time headway:
Wherein,It is the lane k of definition, is able to reflect and faces in period n
Nearly spacing and time headway fluctuate the function of double characteristic；For lane k, the average value of j vehicle time headway before period n；For lane k, the standard deviation of j vehicle time headway before period n；For lane k, j+1 vehicle is to N before period nk,n?
The average value of vehicle time headway；For lane k, j+1 vehicle is to N before period nk,nThe standard deviation of vehicle time headway；
S65, two points are carried out to the time headway sequence in the period, jth vehicle can be acquired correspondingIt calculatesMean value:
Wherein,To work as j=Nk,nWhenFunctional value；For functionFunctional value in lane k, period nMean value；
S66, initialization aggregate-valueCalculate remaining aggregate-value:
Wherein,Indicate i-th aggregate-value, i=1,2 ..., Nk,n；
S67, S is calculatedk,nIt is very poor:
Wherein,ForMaximum value；For's
Minimum value；
S68, period queuing vehicle number is sought:
Wherein,Queue length for the lane k found out based on Analysis of Changing Points theory, period n is estimated
Value；S isCorresponding j value；
S69: the difference of adjacent same attribute lane queuing vehicle number is calculated:
IfThen
IfThen go to S610；Wherein,For the lane found out based on Analysis of Changing Points theory
The queue length estimated value of k, period n；For the adjacent same attribute lane l found out based on Analysis of Changing Points theory, the row of period n
Team's length estimation；ε2For queue length discrepancy threshold, 3 can be demarcated as according to the simulation experiment result；qk,nFor lane k, period
The final estimated value of the queue length of n；
S610: assuming thatCalculate theChe YuThe headstock of vehicle
When away from:
IfThen by second catastrophe point of Analysis of Changing Points theoretical calculation until meeting S69 conditionalOtherwise the height is to be lined up end point,Wherein,For based on Analysis of Changing Points theory institute
Queue length (vehicle number) the modified estimated value of the lane k of calculating in period n；It isVehicle with
TheThe time headway of vehicle；ε3For time headway threshold value.
Further, the method also includes executing after identifying different types of queuing overflow status: with VISSIM
The simulation model for establishing single crossing is verified to spilling recognition methods is lined up.
Technical solution bring provided by the invention has the beneficial effect that:
A. be lined up to overflow to classify and define: the present invention expands on the basis of existing queuing is overflowed and defined, according to short
Lane, which is lined up, overflows the traveling for whether blocking its fellow road-users and is segmented, while considering phase clearance sequence to row
The influence of identification is overflowed in team, and a point situation establishes queuing and overflows recognizer；
B. input data is few: the present invention does not need to assume the parameters such as arrival rate, is the input of unique data with the alert data of electricity,
Queue length is estimated by its time stamp data, identification occurs to be lined up the period overflowed on this basis, and is emulating
It is verified in experiment；
C. applicability is wide: the present invention is using the alert data of bayonet electricity, under means of transportation gradually perfect background, China
The alert equipment of bayonet electricity has been laid in most cities, and the universality of this method is stronger, applied widely.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is technology path flow chart provided in an embodiment of the present invention；
Fig. 2 is the algorithm flow chart that the embodiment of the present invention estimates queue length based on Analysis of Changing Points theory；
The vehicle clearance process schematic of Fig. 3 five kinds of common signal pass-through rules provided in an embodiment of the present invention；
Fig. 4 is that identification process figure is overflowed in the queuing under straight Zuo Tongfang pass-through rule in the present invention；
Fig. 5 (a)-(j) is ten kinds of status diagrams that queuing of the present invention under straight Zuo Tongfang pass-through rule is overflowed；
Fig. 6 is that identification process figure is overflowed in the queuing under the first straight rear left pass-through rule in the present invention；
Fig. 7 (a)-(d) is four kinds of status diagrams that the queuing under the first straight rear left pass-through rule of the present invention is overflowed；
Fig. 8 is that identification process figure is overflowed in the queuing under the first straight rear straight left pass-through rule in the present invention；
Fig. 9 (a)-(e) is five kinds of status diagrams for being lined up spilling after the present invention is formerly straight under straight left pass-through rule；
Figure 10 is that identification process figure is overflowed in the queuing under the first left back straight pass-through rule in the present invention；
Figure 11 (a)-(d) is four kinds of status diagrams that spilling is lined up under the first left back straight pass-through rule of the present invention；
Figure 12 is first left back left ruler in the present invention then lower queuing spilling identification process figure；
Figure 13 (a)-(h) is the present invention formerly left back left ruler then lower eight kinds of status diagrams for being lined up spilling；
Figure 14 is the software interface screenshot schematic diagram of the simulating, verifying intersection in the present invention (research crossing is eastern import).
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Covering non-exclusive includes to be not necessarily limited to for example, containing the process, method of a series of steps or units, device, product or equipment
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
In one embodiment of the invention, a kind of short lane queuing spilling knowledge in the intersection based on the alert data of electricity is provided
Other method, as shown in Figure 1, the method includes following below scheme:
1) it is left away the information such as time headway by the alert data acquisition of electricity:
The information such as the timestamp by the alert data of electricity extract, including departure time, direction number, lane number, seek
Fleet on every lane leaves away time headway, is expressed as follows:
hi=pti+1-pti
Wherein, hiIndicate i-th of lane time headway, pti+1For leaving away the moment for the i-th+1, lane vehicle, ptiTable
Show leaving away the moment for i-th vehicle.It is found that time headway is 1 with the difference by vehicle number.
2) resulting time headway information of leaving away by the timestamp information of stop line and is calculated based on vehicle, passes through definition
Characteristic function fluctuates double characteristic to describe to close on spacing and time headway, and time headway sequence height of leaving away is identified with this,
Vehicle queue length in cycle estimator on every lane, algorithm flow as shown in Fig. 2, and the following steps are included:
Step1: based on the alert data of electricity, calculate in the period by vehicle number and time headway of leaving away；
Step2: the queuing situation of first car is identified:
①If Nk,n=1, then it is 1 in the queuing vehicle number of period n inside lane k,
Otherwise Step3 is gone to；
②It is then 0 in the queuing vehicle number of period n inside lane k.
Wherein,For the timestamp information of the first car on period n inside lane k；Gk,nIndicate lane k, period n's
Green light opens the bright moment；Nk,nIndicate that the lane k that the alert data of electricity are recorded crosses vehicle number in the total of period n；ε1For time difference threshold value, mark
It is set to 3s.
Step3: the queuing situation of second car is identified:
①It is then 1 in the queuing vehicle number of period n inside lane k；
②If Nk,n=2, then it is 2 in the queuing vehicle number of period n inside lane k, otherwise goes to
Step4；
Wherein,It is the alert data record of electricity at the time of second car passes through stop line on period n inside lane k.
Step4: if being greater than two by vehicle number in the period, can be analyzed time headway sequence and be sought height,
Definable function Fk,nTo describe critical gap and the double characteristic of time headway:
Wherein,It is the lane k of definition, is able to reflect in period n and closes on spacing and the double characteristic of time headway fluctuation
Function；For lane k, the average value of j vehicle time headway before period n；For lane k, j vehicle headstock before period n
When away from standard deviation；For lane k, j+1 vehicle is to N before period nk,nThe average value of vehicle time headway；For lane
J+1 vehicle is to N before k, period nk,nThe standard deviation of vehicle time headway.
Step5: two points are carried out to the time headway sequence in the period, jth vehicle can be acquired correspondingIt calculatesMean value:
Wherein,To work as j=Nk,nWhenFunctional value；For functionFunction in lane k, period n
ValueMean value.
Step6: initialization aggregate-valueCalculate remaining aggregate-value:
Wherein,Indicate i-th aggregate-value, i=1,2 ..., Nk,n。
Stpe7: S is calculatedk,nIt is very poor:
Wherein,ForMaximum value；ForMinimum value.
Step8: period queuing vehicle number is sought:
Wherein,For the lane k found out based on Analysis of Changing Points theory, the queue length estimated value of period n；S is
Corresponding j value.
Step9: the difference of adjacent same attribute lane queuing vehicle number is calculated:
①Then
②Then queue length needs are modified, and go to Stpe10.
Wherein,For the lane k found out based on Analysis of Changing Points theory, the queue length estimated value of period n；For base
In the adjacent same attribute lane l that Analysis of Changing Points theory is found out, the queue length estimated value of period n；ε2For queue length difference threshold
Value, can be demarcated as 3 according to the simulation experiment result；qk,nFor lane k, the final estimated value of the queue length of period n.
Step10: assuming thatCalculate theChe YuThe vehicle of vehicle
Head when away from:
①Then the height is not to be lined up end point, need to further pass through Analysis of Changing Points theoretical calculation
1. second catastrophe point is until meet Step9 conditional:
②Then the height is to be lined up end point,
Wherein,To be repaired based on the theoretical lane k calculated of Analysis of Changing Points in the queue length (vehicle number) of period n
Positive estimated value；It isChe YuThe time headway of vehicle；ε3For time headway threshold value,
It can be demarcated as 3s according to simulation result.
3) analysis turn left short lane and adjacent columns lane different queue lengths in the case of, row that intersection may occur
Team's overflow type, and by whether block the traveling of vehicle on its adjacent lane and be finely divided.Based on Analysis of Changing Points theory institute
Each lane queue length being calculated establishes rule-based formula under different phase pass-through rules (as shown in Figure 3) respectively
Queuing overflow recognizer, to identify different types of queuing overflow status.
(1) straight Zuo Tongfang
Under straight trip, the phase rule for turning left while letting pass, for signal period, recognizer such as Fig. 4 institute is overflowed
Show, key step is as follows:
Step1: based on the alert data of electricity, pass through the queue length in each lane in the Analysis of Changing Points theoretical calculation period, statistics
Each lane passes through vehicle number；
Step2: judge Through Lane queuing vehicle number NqtIt whether is more than that Through Lane stores vehicle space NBT, if being less than
It is only possible to occur to turn left to overflow, goes to Step3；Otherwise go to Step6；
Step3: judge that left turn lane passes through vehicle number NLIt whether is more than that left turn lane stores vehicle space NBL, left if being less than
It changes trains or buses not occur to be lined up to overflow, as shown in Fig. 5 (a), terminates algorithm；Otherwise go to Step4；
Step4: judge left turn lane queuing vehicle number NqlIt whether is more than that left turn lane stores vehicle space NBL, if being less than
Left turn lane, which does not occur to be lined up, to be overflowed, and as shown in Fig. 5 (b), terminates algorithm；On the contrary then left turn lane, which occurs to be lined up, to be overflowed, need to be into
One step judges whether queuing spilling causes practical obstruction, goes to Step5；
Step5: judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and passes through vehicle number NT, left if being equal to
Turn to be lined up after fleet without the through vehicles being blocked, left turn lane state is to be lined up to overflow and do not block at this time, such as Fig. 5 (c) institute
Show, terminates algorithm；Conversely, Through Lane first non-queuing vehicle need to be calculatedWith last queuing vehicle of left turn laneTime headway, judge whether be less than given threshold, such as less than then left turn lane be lined up overflow and block, such as Fig. 5 (d) institute
Show, terminates algorithm；Conversely, then left turn lane is lined up spilling and does not block, as shown in Fig. 5 (e), terminate algorithm；
Step6: judge Through Lane queuing vehicle number NqtIt whether is more than that Through Lane stores vehicle space NT, may if being more than
Straight trip occurs to overflow, further judges that left turn lane passes through vehicle number NLIt whether is more than that left turn lane stores vehicle space NBL, do not surpass such as
It crosses and goes to Step7, otherwise go to Step8；
Step7: because straight trip fleet's queuing vehicle number has been more than that it stores vehicle space, occurs to be lined up and overflow, need to further judge
It is lined up to overflow and whether causes to block.Judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and passes through vehicle number NL, such as
Do not block equal to the queuing of then Through Lane, as shown in Fig. 5 (f), terminates algorithm, otherwise go to Step9；
Step8: judge left turn lane queuing vehicle number NqlIt whether is more than that left turn lane stores vehicle space NL, two sides if being more than
Occur to be lined up to lane to overflow, goes to Step10, otherwise go to Step9；
Step9: left turn lane first non-queuing vehicle is calculatedWith last queuing vehicle of Through LaneVehicle
Head when away from, judge whether be less than given threshold, such as less than then Through Lane occur be lined up overflow and block, as shown in Fig. 5 (g),
Terminate algorithm；Conversely, then Through Lane is lined up spilling and does not block, as shown in Fig. 5 (h), terminate algorithm；
Step10: left turn lane is calculated separately, Through Lane stores last vehicle in vehicle spaceWith storage vehicle
First car outside spaceTime headway δL、δT.Such as δL< δT, then spilling of turning left and obstruction, such as Fig. 5 (i)
It is shown, terminate algorithm；Such as δL≥δT, then spilling of keeping straight on and obstruction, as Fig. 5 (j) terminates algorithm.
(2) first straight rear left
Formerly straighten row, after put under the phase rule of left-hand rotation, Through Lane only there are two types of be lined up overflow status: be lined up satiety
It closes or non-spill, the two is complementary events.Therefore, overflow recognizer as shown in fig. 6, and key step it is as follows:
Step1: based on the alert data of electricity, pass through the queue length in each lane in the Analysis of Changing Points theoretical calculation period, statistics
Each lane passes through vehicle number；
Step2: judge Through Lane queuing vehicle number NqtWhether it is equal to Through Lane and passes through vehicle number NT, such as less than then straight
Runway is unsaturated, and turns left not spilling over (generation spilling of turning left does not have the non-queuing vehicle of straight trip then and passes through), as shown in Fig. 7 (a),
Terminate algorithm；Conversely, going to Step3；
Step3: judge whether Through Lane is supersaturated, and Rule of judgment is as follows:
1. Through Lane passes through vehicle number close to Through Lane maximum by vehicle number, for example, left turn lane passes through vehicle
Number reaches 80% (similarly hereinafter) that Through Lane maximum passes through vehicle number；
2. last vehicle opens the bright moment close to next period red light by the moment on Through Lane, for example, Through Lane
Last upper vehicle is less than 5s (similarly hereinafter) by the time difference that moment and next period red light open the bright moment；
Such as meet conditions above, then Through Lane supersaturation, the failure of this algorithm terminates algorithm, otherwise goes to Step4；
Step4: judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, such as less than then left
Turn non-spill, as shown in Fig. 7 (b), terminates algorithm；Otherwise go to Step5；
Step5: at this point, left turn lane queuing vehicle number NqlIt has been more than that left turn lane stores vehicle space NBL.Vehicle on lane
Meet equilibrium principle: reaching vehicle and be sequentially filled vacancy, is i.e. it is poor that conspicuousness will not occur for the lane queuing vehicle number of same alike result
Different, so-called significant difference can be according to the mark of the factors such as the width degree at practical crossing, wagon flow closeness setting significant difference
Standard, for example at Four-Lane Road crossing, lane queuing vehicle number difference is 3 or 3 or more, then is determined as significant difference,
Two lanes crossing, lane queuing vehicle number difference are 5 or 5 or more, then are determined as significant difference, this is only for example
Bright, following significant difference repeats no more explanation.It is straight with the presence or absence of significant difference, such as two to can determine whether that two Through Lanes are lined up number
The queuing vehicle number of runway has significant difference, then turns left to be lined up and overflow and block, as shown in Fig. 7 (c)；It is such as poor without conspicuousness
It is different, then turn left to be lined up and overflow and do not block, as shown in Fig. 7 (d), terminates algorithm.
(3) first straight rear straight left
Under the phase pass-through rule for formerly straightening row, rear straight Zuo Tongfang, recognizer process is overflowed as shown in figure 8, and main
Want that steps are as follows:
Step1: based on the alert data of electricity, pass through the queue length in each lane in the Analysis of Changing Points theoretical calculation period, statistics
Each lane passes through vehicle number；
Step2: judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, such as larger than then may be used
Can occur turning left to overflow, go to Step3；Conversely, then explanation is in straight trip clearance stage (hereinafter referred to as t1) turn left to be lined up and will not make
At interference, stage (hereinafter referred to as t is overlapped in phase2) in can be judged based on (1) straight Zuo Tongfang method, terminate algorithm,
Parameters variation is as follows:
N′qt=Nqt-Npt1
Wherein, N 'qtTo correct queuing vehicle number based on the Through Lane under (1) straight Zuo Tongfang method；NqtIt is straight in the period
Runway queuing vehicle number；Npt1For in t1Moment Through Lane passes through vehicle number.
Step3: judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, such as less than then turn
To Step4；Conversely, then going to Step5 as shown in Fig. 9 (a)；
Step4: judging whether two Through Lane queuing vehicle numbers have significant difference, if any significant difference, then turns left
Lane, which is lined up, to be overflowed and blocks, and as shown in Fig. 9 (b), terminates algorithm；It overflows and does not block, such as Fig. 9 conversely, left turn lane is lined up
(c) shown in, terminate algorithm；
Step5: judging whether left turn lane, Through Lane vehicle mutually stop, as fleet meets:
hi< δ
Wherein, hiFor i-th and the time headway of i+1 straight traffic, wherein i=1,2,3 ..., Npt-1；δ is headstock
When away from threshold value.
Illustrate that left turn lane queuing vehicle does not influence through vehicles, turns left at this time, Through Lane is lined up spilling and does not hinder
Plug terminates algorithm as shown in Fig. 9 (d)；Conversely, left-hand rotation, Through Lane are lined up spilling and block, as shown in Fig. 9 (e), terminate
Algorithm.
(4) first left back straight
Formerly put left-hands rotation, after straighten under capable phase pass-through rule, left turn lane only there are two types of be lined up overflow status: queuing
It satiates and/or non-spill, the two is complementary events.It is as shown in Figure 10 to overflow recognizer process, and key step is as follows:
Step1: based on the alert data of electricity, pass through the queue length in each lane in the Analysis of Changing Points theoretical calculation period, statistics
Each lane passes through vehicle number；
Step2: judge left turn lane queuing vehicle number NqlWhether it is equal to left turn lane and passes through vehicle number NL, such as it is equal to and goes to
Step3, on the contrary go to Step4；
Step3: judge whether left turn lane is supersaturated, and Rule of judgment is as follows:
1. left turn lane passes through vehicle number close to Through Lane maximum by vehicle number
2. last vehicle opens the bright moment close to next period red light by the moment on Through Lane
Such as meet conditions above, then supersaturation of turning left, this algorithm failure terminates algorithm conversely, left-hand rotation is non-spill；
Step4: judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, such as less than then left
Turn non-spill, as shown in Figure 11 (a), terminates algorithm；Such as larger than then go to Step5；
Step5: judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, such as less than then left
Turn to overflow and do not block, as shown in Figure 11 (b), terminates algorithm；Otherwise go to Step6；
Step6: judging whether the queuing vehicle number of two Through Lanes has significant difference, if any significant difference, then left
It changes trains or buses to be lined up and overflows and block, as shown in Figure 11 (c).It overflows and does not block conversely, left turn lane is lined up, such as Figure 11 (d) institute
Show, terminates algorithm.
(5) first left back left straight
It formerly puts under left-hand rotation, the rear directly phase pass-through rule of Zuo Tongfang, it is as shown in figure 12 and main to overflow recognizer process
Want that steps are as follows:
Step1: based on the alert data of electricity, pass through the queue length in each lane in the Analysis of Changing Points theoretical calculation period, statistics
Each lane passes through vehicle number；
Step2: judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, such as less than then only
It may occur to turn left to overflow, go to Step3；It is on the contrary then may occur straight trip overflow, go to Step6；
Step3: judge that left turn lane passes through vehicle number NLWhether it is less than left turn lane and stores vehicle space NBL, such as less than then turn left
It is non-spill, as shown in Figure 13 (a), terminates algorithm, otherwise go to Step4；
Step4: judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, such as less than then left
Turn non-spill, as shown in Figure 13 (b), terminates algorithm；It is on the contrary then occur to turn left to be lined up to overflow, it need to further determine whether that obstruction is straight
Driving, goes to Step5；
Step5: last queuing vehicle of left turn lane is calculatedWith first non-queuing vehicle of Through Lane
Time headway, judge whether be less than given threshold.Such as less than then illustrate that left turn lane is lined up to overflow and block, such as Figure 13 (c)
It is shown.It overflows and does not block conversely, left turn lane is lined up, as shown in Figure 13 (d), terminate algorithm；
Step6: judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, such as less than then turn
It is on the contrary to go to Step8 to Step7；
Step7: last queuing vehicle of Through Lane is calculatedWith first non-queuing vehicle of left turn lane
Time headway, judge whether be less than given threshold.Such as less than, then Through Lane is lined up spilling and blocks, such as Figure 13 (e) institute
Show, terminates algorithm；Conversely, Through Lane overflows and do not block, as shown in Figure 13 (f), terminate algorithm；
Step8: it calculates left turn lane and stores last vehicle in vehicle spaceFirst is stored outside vehicle space with left turn lane
VehicleTime headway, judge whether be less than given threshold.Such as less than then illustrate that left turning vehicle is storing first outside vehicle space
The position of vehicle, straight trip is not spilt over, and as shown in Figure 13 (g), terminates algorithm；Such as larger than, then queuing of keeping straight on is overflowed and is blocked, and such as schemes
Shown in 13 (h), terminate algorithm.
4) simulation model that single crossing is established with VISSIM is verified to spilling recognition methods is lined up.
The present invention establishes the intersection simulation model with short lane with VISSIM and carries out to spilling recognition methods is lined up
Verifying, Figure 14 is simulation software interface screenshot, shows that the Lianyungang southern exposure East Road-of verifying leads to the emulation intersection on Guannan road in figure
Mouthful, research crossing is eastern import.
Modeling constructs section model according to road geometry data in VISSIM first, wherein timing scheme is based respectively on
Five kinds of phase pass-through rules are configured, finally, the simulation model of operation VISSIM, simulates electricity by extracting detector data
Alert data are analyzed, and extract track of vehicle information to restore true queuing process, are overflow as validation criteria with verifying to be lined up
Ratio out assesses the recognition effect of the invention.
Each phase condition of table 1, which is lined up, overflows accuracy of identification
By simulation results it is found that it is 89.4% that discrimination is overflowed in the average queuing that the present invention obtains in embodiment, always
Body recognition effect is preferable, under most of phase pass-through rules, can obtain 90% or so precision.
It is lined up the present invention relates to a kind of short lane in intersection based on the alert data of electricity and overflows recognition methods, be based on Analysis of Changing Points
Each lane queue length that theory is calculated establishes the row of rule-based formula under different phase pass-through rules respectively
Recognizer is overflowed in team, and to identify different types of queuing overflow status, the present invention, which has to be lined up, overflows clear, input number of classifying
According to less, applicability is wide the advantages that.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of short lane in intersection based on the alert data of electricity, which is lined up, overflows recognition methods, which comprises the following steps:
According to the alert data of electricity, acquisition is left away time headway information, wherein the alert data of electricity include vehicle by stop line when
Between stab information, the timestamp information includes departure time, direction number, lane number；
According to the timestamp information and time headway information of leaving away, by defined feature function to describe to close on spacing and headstock
When the characteristic away from fluctuation, time headway sequence height of leaving away, and then the vehicle in cycle estimator on every lane are identified with this
Queue length；
The different queue length situations in the short lane of analysis left-hand rotation and adjacent columns lane overflow class in conjunction with the queuing that intersection occurs
Type is based on each lane queue length of Analysis of Changing Points theoretical calculation, under different phase pass-through rules, establishes be based on phase respectively
Recognizer is overflowed in the queuing of pass-through rule, to identify different types of queuing overflow status.
2. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the time headway information of leaving away passes through
Following formula obtains:
hi=pti+1-pti, wherein hiIndicate i-th of lane time headway, pti+1For the time of i+1 vehicle on the lane
Stamp, ptiIndicate leaving away the moment for i-th vehicle.
3. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the phase pass-through rule includes straight trip
With the phase rule let pass simultaneously of left-hand rotation, corresponding queuings spilling recognizer the following steps are included:
S11, each lane is counted by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Pass through vehicle number；
S12, judge Through Lane queuing vehicle number NqtIt whether is more than that Through Lane stores vehicle space NBT, if being less than, go to S13；
Otherwise go to S16；
S13, judge that left turn lane passes through vehicle number NLIt whether is more than that left turn lane stores vehicle space NBL, the left turn lane if being less than
Do not occur to be lined up and overflow, terminates algorithm；Otherwise go to S14；
S14, judge left turn lane queuing vehicle number NqlIt whether is more than that left turn lane stores vehicle space NBL, the left turn lane if being less than
Do not occur to be lined up and overflow, terminates algorithm；On the contrary then left turn lane, which occurs to be lined up, to be overflowed, and goes to S15；
S15, judge Through Lane queuing vehicle number NqtWhether it is equal to Through Lane and passes through vehicle number NT, if so, turning left to be lined up
Without the through vehicles being blocked after fleet, left turn lane state is to be lined up to overflow and do not block at this time, terminates algorithm；Conversely, then
Calculate Through Lane first non-queuing vehicleWith last queuing vehicle of left turn laneTime headway, judge it
Whether it is less than given threshold, overflows and block if so, left turn lane is lined up, terminate algorithm；Conversely, then left turn lane queuing is overflow
Out and do not block, terminates algorithm；
S16, judge Through Lane queuing vehicle number NqtIt whether is more than that Through Lane stores vehicle space NT, if so, judging left-hand rotation vehicle
Road passes through vehicle number NLIt whether is more than that left turn lane stores vehicle space NBL, if being less than, S17 is gone to, otherwise goes to S18；
S17, judge left turn lane queuing vehicle number NqlWhether it is equal to left turn lane and passes through vehicle number NL, if so, Through Lane
Queuing is not blocked, and is terminated algorithm, otherwise is gone to S19；
S18, judge left turn lane queuing vehicle number NqlIt whether is more than that left turn lane stores vehicle space NL, if so, two direction lanes
Occur to be lined up to overflow, goes to S110, otherwise go to S19；
S19, left turn lane first non-queuing vehicle is calculatedWith last queuing vehicle of Through LaneTime headway,
Judge whether it is less than given threshold, overflows and block if so, Through Lane occurs to be lined up, terminate algorithm；Conversely, then keeping straight on
Lane, which is lined up, to be overflowed and does not block, and algorithm is terminated；
S110, calculate separately left turn lane, Through Lane store vehicle space in last vehicleOutside storage vehicle space
First carTime headway δL、δT, such as δL< δT, then spilling of turning left and obstruction terminate algorithm；Such as δL≥
δT, then spilling of keeping straight on and obstruction terminate algorithm.
4. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the phase pass-through rule includes first straight
Row clearance rear left relays capable phase rule, corresponding queuing overflow recognizer the following steps are included:
S21, each lane is counted by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Pass through vehicle number；
S22, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and passes through vehicle number NT, if so, Through Lane
Unsaturation, and turn left not spilling over, terminate algorithm；Conversely, going to S23；
S23, judge whether Through Lane is supersaturated, Rule of judgment includes:
First condition reaches Through Lane maximum 80% or more by vehicle number by vehicle number for Through Lane；
Second condition is that last vehicle is less than by the time difference that the moment opens the bright moment with next period red light on Through Lane
5s；
Such as meet first condition and second condition, then Through Lane supersaturation, terminates algorithm, otherwise go to S24；
S24, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation is non-spill,
Terminate algorithm；Otherwise go to S25；
S25, judge that two Through Lanes are lined up number with the presence or absence of difference, the queuing vehicle number of such as two Through Lanes is variant, then left
Turn to be lined up and overflow and block, terminates algorithm；Such as indifference, then turns left to be lined up and overflow and do not block, terminate algorithm.
5. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the phase pass-through rule includes first straight
Straight trip and the phase rule let pass simultaneously of turning left after row is let pass, corresponding queuings spilling recognizer the following steps are included:
S31, each lane is counted by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Pass through vehicle number；
S32, judge left turn lane queuing vehicle number NqlWhether it is greater than left turn lane and stores vehicle space NBL, if so, going to S33；Instead
It, then turn left in the straight trip clearance stage and be lined up and will not interfere, terminate algorithm；
S33, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, if so, going to S34；Instead
Then go to S35；
S34, judge whether two Through Lane queuing vehicle numbers are variant, such as variant, then left turn lane, which is lined up, overflows and blocks,
Terminate algorithm；It overflows and does not block conversely, left turn lane is lined up, terminate algorithm；
S35, judge whether left turn lane, Through Lane vehicle mutually stop, as fleet meets the following conditions:
hi< δ, wherein hiFor i-th and the time headway of i+1 straight traffic, wherein i=1,2,3 ..., Npt-1；δ is headstock
When away from threshold value, then turn left, Through Lane be lined up spilling and do not block, terminate algorithm；Conversely, turning left, Through Lane is lined up
It overflows and blocks, terminate algorithm.
6. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the phase pass-through rule includes first left
Relay the phase rule of clearance of keeping straight on after row, corresponding queuings spilling recognizer the following steps are included:
S41, each lane is counted by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Pass through vehicle number；
S42, judge left turn lane queuing vehicle number NqlWhether it is equal to left turn lane and passes through vehicle number NL, if so, going to S43, instead
Go to S44；
S43, judge whether left turn lane is supersaturated, Rule of judgment includes:
First condition reaches Through Lane maximum 80% by vehicle number by vehicle number for left turn lane；
Second condition is that last vehicle is less than by the time difference that the moment opens the bright moment with next period red light on Through Lane
5s；
Such as meet conditions above, then terminate algorithm, conversely, left-hand rotation is non-spill, terminates algorithm；
S44, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation is non-spill,
Terminate algorithm；Otherwise S45 is gone to；
S45, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, if so, turn left overflow and
Do not block, terminates algorithm；Otherwise go to S46；
S46, judge whether the queuing vehicle number of two Through Lanes is variant, such as variant, then left turn lane, which is lined up, overflows and hinder
Plug；It overflows and does not block conversely, left turn lane is lined up, terminate algorithm.
7. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the phase pass-through rule includes first left
Relay straight trip and the phase rule let pass simultaneously of turning left after row, corresponding queuings spilling recognizer the following steps are included:
S51, each lane is counted by the queue length in each lane in the Analysis of Changing Points theoretical calculation period according to the alert data of electricity
Pass through vehicle number；
S52, judge Through Lane queuing vehicle number NqtWhether it is less than Through Lane and stores vehicle space NBT, if so, going to S53；Instead
Then go to S56；
S53, judge that left turn lane passes through vehicle number NLWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation is non-spill,
Terminate algorithm, otherwise goes to S54；
S54, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, left-hand rotation is non-spill,
Terminate algorithm；It is on the contrary then go to S55；
S55, last queuing vehicle of left turn lane is calculatedWith first non-queuing vehicle of Through LaneHeadstock
When away from, judge whether it is less than given threshold, if so, left turn lane be lined up overflow and block, terminate algorithm；Conversely, turning left
Lane, which is lined up, to be overflowed and does not block, and algorithm is terminated；
S56, judge left turn lane queuing vehicle number NqlWhether it is less than left turn lane and stores vehicle space NBL, if so, going to S57, instead
Go to S58；
S57, last queuing vehicle of Through Lane is calculatedWith first non-queuing vehicle of left turn laneHeadstock
When away from, judge whether it is less than given threshold, if so, Through Lane be lined up overflow and block, terminate algorithm；Conversely, straight trip
Lane is overflowed and is not blocked, and algorithm is terminated；
S58, last vehicle in left turn lane storage vehicle space is calculatedFirst car outside vehicle space is stored with left turn lane
Time headway, judge whether it is less than given threshold, if so, straight trip do not spill over, terminate algorithm；Otherwise straight trip, which is lined up, overflows
And block, terminate algorithm.
8. recognition methods is overflowed in queuing according to claim 1, which is characterized in that it is described according to the timestamp information and
Time headway information of leaving away is identified by defined feature function to describe the characteristic for closing on spacing and time headway fluctuates with this
It leaves away out time headway sequence height, and then the vehicle queue length in cycle estimator on every lane comprising following steps:
S61, according to the alert data of electricity, calculate in the period by vehicle number and time headway of leaving away；
S62, the queuing situation for identifying first car:
IfAnd Nk,n=1, then it is 1 in the queuing vehicle number of period n inside lane k, otherwise goes to S63；
IfIt is then 0 in the queuing vehicle number of period n inside lane k；Wherein,For period n inside lane k
On first car timestamp information；Gk,nIndicate that lane k, the green light of period n open the bright moment；Nk,nIndicate that the alert data of electricity are remembered
The lane k of record crosses vehicle number in the total of period n；ε1For time difference threshold value；
S63, the queuing situation for identifying second car:
IfIt is then 1 in the queuing vehicle number of period n inside lane k；
IfAnd Nk,n=2, then it is 2 in the queuing vehicle number of period n inside lane k, otherwise goes to S64,
In,It is the alert data record of electricity at the time of second car passes through stop line on period n inside lane k；
S64, pass through vehicle number in such as period greater than two, time headway sequence can be analyzed and seek height, can define
Function Fk,nTo describe critical gap and the double characteristic of time headway:
Wherein,It is the lane k of definition, is able to reflect in period n between closing on
Away from the function for fluctuating double characteristic with time headway；For lane k, the average value of j vehicle time headway before period n；
For lane k, the standard deviation of j vehicle time headway before period n；For lane k, j+1 vehicle is to N before period nk,nVehicle vehicle
Head when away from average value；For lane k, j+1 vehicle is to N before period nk,nThe standard deviation of vehicle time headway；
S65, two points are carried out to the time headway sequence in the period, jth vehicle can be acquired correspondingIt calculatesMean value:
Wherein,To work as j=Nk,nWhenFunctional value；For functionIn vehicle
Functional value in road k, period nMean value；
S66, initialization aggregate-valueCalculate remaining aggregate-value:
Wherein,Indicate i-th aggregate-value, i=1,2 ..., Nk,n；
S67, S is calculatedk,nIt is very poor:
Wherein,ForMaximum value；ForMinimum
Value；
S68, period queuing vehicle number is sought:
Wherein,For the lane k found out based on Analysis of Changing Points theory, the queue length estimated value of period n；S isCorresponding j value；
S69: the difference of adjacent same attribute lane queuing vehicle number is calculated:
IfThen
IfThen go to S610；Wherein,For the lane k found out based on Analysis of Changing Points theory, week
The queue length estimated value of phase n；For the adjacent same attribute lane l found out based on Analysis of Changing Points theory, the queuing of period n is long
Spend estimated value；ε2For queue length discrepancy threshold, 3 can be demarcated as according to the simulation experiment result；qk,nFor lane k, period n's
The final estimated value of queue length；
S610: assuming thatCalculate theChe YuThe time headway of vehicle:
IfThen by second catastrophe point of Analysis of Changing Points theoretical calculation until meeting S69 conditionalOtherwise the height is to be lined up end point,Wherein,For based on Analysis of Changing Points theory institute
Queue length (vehicle number) the modified estimated value of the lane k of calculating in period n；It isVehicle with
TheThe time headway of vehicle；ε3For time headway threshold value.
9. recognition methods is overflowed in queuing according to claim 1, which is characterized in that the method also includes different in identification
It is executed after the queuing overflow status of type: establishing the simulation model of single crossing with VISSIM, overflow identification side to being lined up
Method is verified.
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| CN112419751A (en) * | 2020-10-10 | 2021-02-26 | 同济大学 | Signalized intersection lane queuing length estimation method based on single-section electric alarm data |
| CN112419751B (en) * | 2020-10-10 | 2021-10-08 | 同济大学 | Signalized intersection lane queuing length estimation method based on single-section electric alarm data |
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