CN109841068B - Traffic signal control method based on traffic flow conflict point occupancy rate at intersection center - Google Patents
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Abstract
The invention discloses a traffic signal control method based on traffic flow conflict point occupancy at a crossing center, which comprises the following steps: the method comprises the following steps: acquiring an occupancy value of a traffic flow conflict point; step two: calculating the effective utilization green light time of each traffic flow direction; step three: calculating the green light time distributed to each flow direction under the current signal control scheme; step four: calculating the invalid green light time of each phase; step five: optimizing the green light time utilization rate of each phase according to the control target; step six: and forming a new signal control scheme. The invention has the beneficial effects that: the invention can analyze and calculate the green light use condition of each flow direction according to the occupancy condition of the traffic flow conflict point at the center of the intersection, and optimize the green light time of each phase in the signal control scheme on the basis of the occupancy condition, thereby improving the utilization rate of the green light time of the phase, reducing the vacant space and reducing the traffic delay of the intersection.
Description
Technical Field
The invention relates to the field of urban road traffic signal control, in particular to a traffic signal control method based on traffic flow conflict point occupancy at a crossing center.
Background
To realize dynamic adjustment of a traffic signal control scheme at a road intersection, the prior art mainly obtains traffic flow requirements of each entrance of the intersection in real time, combines the objectives of intersection traffic signal control (such as balanced delay of each entrance, and no more than 1 parking and queuing time of east-west traffic flow vehicles) according to the traffic flow requirements of each entrance of the intersection, and allocates green light time which is in accordance with the preset control objectives to each entrance.
In the prior art, the traffic flow requirements of each entrance of an intersection can be acquired by detecting the traffic flow of each entrance, for example, the numerical values of the traffic flow, the queuing length, the saturation, the occupancy and the like of each entrance lane are detected, and the split green ratio of each entrance is distributed according to the numerical value of the traffic flow parameter of each entrance. Because of the spatial distribution of the intersections, the method needs to arrange detection equipment for each entrance of the intersection, and for example, a standard intersection needs to arrange a set of detection equipment for each of four entrances to collect the traffic flow parameters of the entrance, so that the construction investment of the detection equipment is large.
Therefore, it is necessary to propose a traffic signal control method based on the traffic flow conflict point occupancy at the intersection center for the above-described problems.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for determining traffic signal control scheme parameters of an intersection and performing dynamic traffic signal control on the intersection based on a traffic flow conflict point occupancy detection value at the center of the intersection.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a traffic signal control method based on traffic flow conflict point occupancy at a crossing center comprises the following steps: the method comprises the following steps: acquiring an occupancy value of a traffic flow conflict point; step two: calculating the effective utilization green light time of each traffic flow direction; step three: calculating the green light time distributed to each flow direction under the current signal control scheme; step four: calculating the invalid green light time of each phase; step five: optimizing the green light time utilization rate of each phase according to the control target; step six: and forming a new signal control scheme.
Wherein the first step is as follows: at an intersection, four inlets in the northeast, the southwest and the northeast are provided, each inlet is provided with two traffic flows of left turning and straight going (no conflict and neglect of right turning traffic flow), the number of the traffic flows is respectively marked as F1-F8, each traffic flow conflicts with other traffic flows at the intersection center, such as F2 and F8, the point where the two traffic flows conflict is marked as C28, and so on, the conflict points of each traffic flow at the intersection center are marked as C28, C18, C38, C68, C24, C47, C45, C46, C23, C25, C16 and C67, which are 12 (note that C13, C17, C35 and C37 at the intersection center are also traffic flow conflict points, the front 12 conflict points can meet the data required for calculation, and the data of the 4 conflict points can not be collected);
and arranging a geomagnetic induction coil or geomagnetic induction detection equipment at the positions of 12 traffic flow conflict points to obtain a time occupancy value of a traffic flow conflict point. Taking a period of time as a statistical interval, acquiring time values of the collision point state of each traffic flow conflict point within the 5 minutes (occupied means that the traffic flow conflict point passes through the point), and recording the time values as T28, T18, T38, T68, T24, T47, T45, T46, T23, T25, T16 and T67;
if T28 is the sum of the occupancy times of the conflict points of the two traffic flows passing through the conflict points in the statistical time period, and T2 is the occupancy time of F2 passing through the conflict points in the statistical time period, T2 is (T28-T38+ T23)/2, and T2 indicates the time when F2 travels to the vehicle in the statistical time period, that is, the effective green light utilization time of F2 in the statistical time period. By analogy, T1-T8, namely F1-F8, can be calculated to obtain the effective utilization green light time of each flow in the statistical time period.
The three steps are based on the current signal control scheme of the road junction to obtain the green light distribution time of each signal phase in the statistical time period. When the signal control scheme of the intersection is 4 phases, the phase A is in east-west straight line pair discharge (F2 and F6 flow directions), the phase B is in east-west left turn pair discharge (F1 and F5 flow directions), the phase C is in south-north straight line pair discharge (F4 and F8 flow directions), and the phase D is in north-south left turn pair discharge (F3 and F7 flow directions).
The phase time of the current signal control scheme is 35 seconds of A phase, 25 seconds of B phase, 35 seconds of C phase and 25 seconds of D phase, and each phase time comprises 3 seconds of green flash and 3 seconds of yellow light time. Within a specified statistical time period, the green light time assigned to each flow during that time period may be obtained.
The phase time and the flow direction in each phase are used to calculate the green light time (note: the yellow light time without phase transition) assigned to each flow direction in the statistical time period, and the green light time is recorded as TS 1-TS 8. The invalid green time for each flow can be calculated from the green time allocated to each flow and the flow-effective green time, and TW1 is TS1 to T1, taking the F1 flow as an example, assuming that the invalid green time for each flow is TW1 to TW 8.
And step four, the flow direction in the phase is formed, and the flow direction invalid green light time with smaller invalid time in the flow direction is selected as the invalid green light time of the phase. Phase a is composed of F2 and F6, TW2> TW6, and the invalid green time of phase a is TW 6. The invalid green time of the phase indicates that the assigned phase green time is not fully utilized in the phase, and the green time has surplus and has certain free space. And setting PW as phase invalid green time, and calculating to obtain PWa, PWb, PWc and PWd.
The fifth step is as follows: when the control target of the intersection is the balanced delay of each phase, for the phase with high invalid green light time in the current phase, the green light time distributed by the phase needs to be reduced, and the green light utilization rate is improved. The reduced green time is subsidized to a phase where the ineffective green time is low. And adjusting the phase green time by adopting a small-step fine adjustment mode, wherein the green time fine adjustment value is set to be 3 seconds, 2 seconds and 1 second. And (4) deleting 3 seconds from the phase with the maximum invalid green time, and subsidizing the phase with the minimum invalid green time. And (4) deleting 2 seconds from the second largest phase of the invalid green time, and supplementing the second smallest phase of the invalid green time, and so on.
Wherein the sixth step: and after the green light time of each phase is finely adjusted, a new signal control scheme is obtained, and the new signal control scheme reduces the green light time of the phase with surplus green light time under the control target of balance delay, and subsidizes the phase with lower invalid green light time, so that the balance of green light time distributed by each phase and the actual utilization rate is realized.
The invention has the beneficial effects that: the invention can analyze and calculate the green light use condition of each flow direction according to the occupancy condition of the traffic flow conflict point at the center of the intersection, and optimize the green light time of each phase in the signal control scheme on the basis of the occupancy condition, thereby improving the utilization rate of the green light time of the phase, reducing the vacant space and reducing the traffic delay of the intersection.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a block flow diagram of the steps of the present invention;
FIG. 2 is a map of traffic flow conflict points at the center of an intersection of the present invention;
fig. 3 is a phase sequence diagram of the intersection current signal control scheme of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1, the traffic signal control method based on the traffic flow conflict point occupancy at the intersection center comprises the following steps: the method comprises the following steps: acquiring an occupancy value of a traffic flow conflict point; step two: calculating the effective utilization green light time of each traffic flow direction; step three: calculating the green light time distributed to each flow direction under the current signal control scheme; step four: calculating the invalid green light time of each phase; step five: optimizing the green light time utilization rate of each phase according to the control target; step six: and forming a new signal control scheme.
Wherein the first step is as follows: as shown in fig. 2, four entrances are provided at the intersection, each of which has two traffic flows, i.e., left turn traffic flow and straight traffic flow (right turn traffic flow does not conflict and is ignored), and the traffic flow numbers are respectively marked as F1 to F8. Each traffic flow collides with other traffic flows at the intersection center, such as F2 and F8, the point where the two traffic flows collide is marked as C28, and so on, the traffic flow conflict points at the intersection center are marked as C28, C18, C38, C68, C24, C47, C45, C46, C23, C25, C16 and C67, which are 12 in total (note that C13, C17, C35 and C37 at the intersection center are also traffic flow conflict points, the first 12 conflict points can satisfy the data required for calculation, and the data of the 4 conflict points can not be collected);
and arranging a geomagnetic induction coil or geomagnetic induction detection equipment at the positions of 12 traffic flow conflict points to obtain a time occupancy value of a traffic flow conflict point. Taking a period of time as a statistical section, acquiring time values of the collision point state of each traffic flow conflict point within the 5 minutes, wherein the time values are occupied (the occupied time values indicate that the vehicle passes through the point), and recording the time values as T28, T18, T38, T68, T24, T47, T45, T46, T23, T25, T16 and T67.
If T28 is the sum of the occupancy times of the conflict points of the two traffic flows passing through the conflict points in the statistical time period, and T2 is the occupancy time of F2 passing through the conflict points in the statistical time period, T2 is (T28-T38+ T23)/2, and T2 indicates the time when F2 travels to the vehicle in the statistical time period, that is, the effective green light utilization time of F2 in the statistical time period. By analogy, T1-T8, namely F1-F8, can be calculated to obtain the effective utilization green light time of each flow in the statistical time period.
The three steps are based on the current signal control scheme of the road junction to obtain the green light distribution time of each signal phase in the statistical time period. As shown in fig. 3, when the signaling scheme at the intersection is 4 phases, the phase a is east-west straight paired discharge (F2, F6 two flow directions), the phase B is east-west left turn paired discharge (F1, F5 two flow directions), the phase C is north-south straight paired discharge (F4, F8 two flow directions), and the phase D is north-south left turn paired discharge (F3, F7 two flow directions).
The phase time of the current signal control scheme is 35 seconds of A phase, 25 seconds of B phase, 35 seconds of C phase and 25 seconds of D phase, and each phase time comprises 3 seconds of green flash and 3 seconds of yellow light time. Within a specified statistical time period, the green light time assigned to each flow during that time period may be obtained.
The phase time and the flow direction in each phase are used to calculate the green light time (note: the yellow light time without phase transition) assigned to each flow direction in the statistical time period, and the green light time is recorded as TS 1-TS 8. The invalid green time for each flow can be calculated from the green time allocated to each flow and the flow-effective green time, and TW1 is TS1 to T1, taking the F1 flow as an example, assuming that the invalid green time for each flow is TW1 to TW 8.
And step four, the flow direction in the phase is formed, and the flow direction invalid green light time with smaller invalid time in the flow direction is selected as the invalid green light time of the phase. Phase a is composed of F2 and F6, TW2> TW6, and the invalid green time of phase a is TW 6. The invalid green time of the phase indicates that the assigned phase green time is not fully utilized in the phase, and the green time has surplus and has certain free space. And setting PW as phase invalid green time, and calculating to obtain PWa, PWb, PWc and PWd.
The fifth step is as follows: when the control target of the intersection is the balanced delay of each phase, for the phase with high invalid green light time in the current phase, the green light time distributed by the phase needs to be reduced, and the green light utilization rate is improved. The reduced green time is subsidized to a phase where the ineffective green time is low. And adjusting the phase green time by adopting a small-step fine adjustment mode, wherein the green time fine adjustment value is set to be 3 seconds, 2 seconds and 1 second. And (4) deleting 3 seconds from the phase with the maximum invalid green time, and subsidizing the phase with the minimum invalid green time. And (4) deleting 2 seconds from the second largest phase of the invalid green time, and supplementing the second smallest phase of the invalid green time, and so on.
Wherein the sixth step: and after the green light time of each phase is finely adjusted, a new signal control scheme is obtained, and the new signal control scheme reduces the green light time of the phase with surplus green light time under the control target of balance delay, and subsidizes the phase with lower invalid green light time, so that the balance of green light time distributed by each phase and the actual utilization rate is realized.
The invention has the beneficial effects that: the invention can analyze and calculate the green light use condition of each flow direction according to the occupancy condition of the traffic flow conflict point at the center of the intersection, and optimize the green light time of each phase in the signal control scheme on the basis of the occupancy condition, thereby improving the utilization rate of the green light time of the phase, reducing the vacant space and reducing the traffic delay of the intersection.
Example (b):
1. and acquiring a time occupancy value of the traffic flow conflict point.
The signal control scheme period of the embodiment is 120 seconds, namely 2 minutes, so that 6 minutes is taken as a statistical time period (namely, data conditions in 3 signal control periods are counted); and acquiring a time occupancy value of a traffic flow conflict point at the center of the intersection in the statistical time period. Taking a ground induction coil as an example, through detection, as shown in fig. 2, occupancy values of 12 points in total, C28, C18, C38, C68, C24, C47, C45, C46, C23, C25, C16 and C67, are obtained, as shown in the following table:
| serial number | Collision point location | Time occupancy value (seconds) |
| 1 | C28 | 66 |
| 2 | C18 | 45 |
| 3 | C38 | 36 |
| 4 | C68 | 78 |
| 5 | C24 | 102 |
| 6 | C47 | 87 |
| 7 | C45 | 90 |
| 8 | C46 | 114 |
| 9 | C23 | 54 |
| 10 | C25 | 72 |
| 11 | C16 | 75 |
| 12 | C67 | 81 |
2. The effective utilization green time of each traffic flow direction is calculated.
The effective utilization green light time of each flow direction can be calculated by the time occupancy detection value of the conflict point formed by 3 pairwise related traffic flow directions. Ti ═ Cij-Cjk + Cik)/2.
| Serial number | Direction of traffic flow | Effective utilization of green time (second) |
| 1 | F1 | 21 |
| 2 | F2 | 42 |
| 3 | F3 | 12 |
| 4 | F4 | 60 |
| 5 | F5 | 30 |
| 6 | F6 | 54 |
| 7 | F7 | 27 |
| 8 | F8 | 24 |
3. And calculating the green light time distributed to each flow under the current signal control scheme.
The phase time in the current signal control scheme is subtracted by the transitional yellow flashing time to obtain the green light time of each phase, and the green light time distributed by each flow direction is obtained by the flow direction in the phase.
| Serial number | Phase position | Phase time | Phase green time | Phase flow direction formation |
| 1 | A | 35 | 32 | F2、F6 |
| 2 | B | 25 | 22 | F1、F5 |
| 3 | C | 35 | 32 | F4、F8 |
| 4 | D | 25 | 22 | F3、F7 |
The statistical time period is 6 minutes, i.e. 3 signalling cycles, and therefore, the assigned green time for each flow direction during the statistical time period is as shown in the following table:
| serial number | Flow direction of | Periodic allocation of green time | Statistical green light time in flow direction distribution in time period |
| 1 | F1 | 22 | 66 |
| 2 | F2 | 32 | 96 |
| 3 | F3 | 22 | 66 |
| 4 | F4 | 32 | 96 |
| 5 | F5 | 22 | 66 |
| 6 | F6 | 32 | 96 |
| 7 | F7 | 22 | 66 |
| 8 | F8 | 32 | 96 |
4. The invalid green time for each phase is calculated.
In the statistical time period, the effective utilization green light time is subtracted from the green light time distributed in each flow direction, and then the inter-vehicle distance time (and the gap between vehicles in the advancing process of the motorcade, which is one third of the effective green light time by default) is subtracted, namely the ineffective green light time in each flow direction.
| Serial number | Flow direction of | Assigning green light time | Efficient use of green time | Vehicle spacing | Time of invalid green light |
| 1 | F1 | 66 | 21 | 7 | 38 |
| 2 | F2 | 96 | 42 | 14 | 40 |
| 3 | F3 | 66 | 12 | 4 | 50 |
| 4 | F4 | 96 | 60 | 20 | 16 |
| 5 | F5 | 66 | 30 | 10 | 26 |
| 6 | F6 | 96 | 54 | 18 | 24 |
| 7 | F7 | 66 | 27 | 9 | 30 |
| 8 | F8 | 96 | 24 | 8 | 64 |
And selecting the ineffective flow direction green light time with smaller ineffective time in the flow direction as the ineffective green light time of the phase.
| Serial number | Phase position | Phase flow direction formation | Flow direction wastes green time | Phase waste green time |
| 1 | A | F2、F6 | 40、24 | 24 |
| 2 | B | F1、F5 | 38、26 | 26 |
| 3 | C | F4、F8 | 16、64 | 16 |
| 4 | D | F3、F7 | 50、30 | 30 |
5. And optimizing the green light time utilization rate of each phase according to the control target.
And according to the control target of the balance delay, the phase time of the phase D with the largest green light waste time is moved by 3 seconds and distributed to the phase C with the smallest green light waste time, and the green light waste time of the phase A and the phase B is basically consistent without adjustment. Thus, a new phase time allocation is obtained, resulting in a new control scheme.
| Phase position | Phase time | Description of the invention |
| A | 35 | Green light 29 seconds, green flash 3 seconds, yellow light 3 seconds |
| B | 25 | Green light 19 seconds, green flash 3 seconds, yellow light 3 seconds |
| C | 38 | Green light 32 seconds, green flash 3 seconds, yellow light 3 seconds. The green light was increased 3 seconds from before. |
| D | 22 | Green 16 seconds, green flash 3 seconds, yellow 3 seconds. The green light was reduced by 3 seconds from before. |
The invention provides a method for detecting the occupancy of conflict points of each flow direction traffic flow at the center of a road junction, calculating the utilization rate of green light time resources of each flow direction under the current signal control scheme by using the occupancy value of the conflict points, and dynamically adjusting the signal control scheme by combining the traffic signal control target of the road junction to realize the balance of the green light time resources of each flow direction, thereby achieving the dynamic optimization of the traffic signal control scheme of the road junction. The method only needs to detect the occupancy of the traffic flow conflict point at the center of the intersection and only needs to construct a set of detection equipment, so that the investment of construction of the detection equipment can be reduced compared with the existing technical method.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. A traffic signal control method based on traffic flow conflict point occupancy at a crossing center is characterized in that: the method comprises the following steps:
the method comprises the following steps: acquiring an occupancy value of a traffic flow conflict point;
step two: calculating the effective utilization green light time of each traffic flow direction;
step three: calculating the green light time distributed to each flow direction under the current signal control scheme;
step four: calculating the invalid green light time of each phase;
step five: optimizing the green light time utilization rate of each phase according to the control target;
step six: forming a new signal control scheme;
wherein the first step is as follows: at the crossroad, four inlets in the northeast and the southwest are arranged, each inlet is provided with two traffic flows of left turning and straight going, and the number of the traffic flows is respectively marked as F1-F8; each traffic flow conflicts with other traffic flows at the center of the intersection, F2 conflicts with F8, the point where the two traffic flows conflict is marked as C28, and the conflict points of each traffic flow at the center of the intersection are marked as C28, C18, C38, C68, C24, C47, C45, C46, C23, C25, C16 and C67, so that 12 traffic flows are obtained;
the conflict point occupancy value in the second step is obtained by adding the occupancy time of two traffic flows which conflict with each other when the two traffic flows pass through the conflict point in the statistical time period, and according to a formula of (Tij-Tjk + Tik)/2, effective utilization green light time of Tl-T8, namely F1-F8 in the statistical time period can be calculated, wherein Tij, Tjk and Tik respectively represent the time occupancy values of the conflict points Cij, Cjik and Cik, if T28 is the sum of the occupancy time of F2 and F8 when the two traffic flows pass through the conflict point, and T2 is the occupancy time of F2 when the conflict point passes through the statistical time period, T2 is (T28-T38+ T23)/T2 is in the statistical time period, F2 flows to the time with vehicles, namely F2 flows to the effective utilization green light time in the statistical time period;
arranging a geomagnetic induction coil or geomagnetic induction detection equipment at the positions of 12 traffic flow conflict points to obtain time occupancy values of the traffic flow conflict points; and taking a period of time as a statistical interval, and acquiring time values of the traffic flow conflict points in 5 minutes, wherein the conflict point positions are occupied, and the time values are recorded as T28, T18, T38, T68, T24, T47, T45, T46, T23, T25, T16 and T67.
2. The traffic signal control method based on traffic flow conflict point occupancy at intersection center according to claim 1, characterized in that: the three steps of the method are that the green light distribution time of each signal phase in the statistical time period is obtained according to the current signal control scheme of the intersection; when the signal control scheme of the intersection is 4 phases, the phase A is in an east-west straight line pair release mode, the phase B is in an east-west left turn pair release mode, the phase C is in a south-north straight line pair release mode, and the phase D is in a south-north left turn pair release mode;
the phase time of the current signal control scheme is 35 seconds of A phase, 25 seconds of B phase, 35 seconds of C phase and 25 seconds of D phase, each phase time contains 3 seconds of green flash and 3 seconds of yellow light time, and the green light time distributed in each flow direction in the time period can be obtained in a specified statistical time period;
the green light time distributed to each flow direction in the statistical time period can be calculated and recorded as TS 1-TS 8; the invalid green time for each flow can be calculated from the green time allocated to each flow and the flow-effective green time, and TW1 is TS1 to T1, taking the F1 flow as an example, assuming that the invalid green time for each flow is TW1 to TW 8.
3. The traffic signal control method based on traffic flow conflict point occupancy at intersection center according to claim 2, characterized in that: the phase of the step four is formed by the flow direction, the flow direction invalid green light time with smaller invalid time in the flow direction is selected as the invalid green light time of the phase, the phase A is formed by F2 and F6, TW2 is TW6, and the invalid green light time of the phase A is TW 6; the invalid green time of the phase indicates that the allocated phase green time is not fully utilized in the phase, the green time is redundant, and a certain amount of free space exists; and setting PW as phase invalid green time, and calculating to obtain PWa, PWb, PWc and PWd.
4. The traffic signal control method based on traffic flow conflict point occupancy at intersection center according to claim 1, characterized in that: the fifth step is as follows: when the control target of the intersection is the balanced delay of each phase, for the phase with high invalid green light time in the current phase, the green light time distributed by the phase needs to be reduced, and the utilization rate of the green light is improved; the reduced green time is subsidized to a phase with a low invalid green time; adjusting the phase green time by adopting a small-step fine adjustment mode, wherein the green time fine adjustment value is set to be 3 seconds, 2 seconds or 1 second; deleting 3 seconds from the phase with the maximum invalid green time, and subsidizing the phase with the minimum invalid green time; and the second largest phase of the invalid green time is obtained, the green time is subtracted by 2 seconds, and the second smallest phase of the invalid green time is attached.
5. The traffic signal control method based on traffic flow conflict point occupancy at intersection center according to claim 1, characterized in that: wherein the sixth step: and after the green light time of each phase is finely adjusted, a new signal control scheme is obtained, and the new signal control scheme reduces the green light time of the phase with surplus green light time under the control target of balance delay, and subsidizes the phase with lower invalid green light time, so that the balance of green light time distributed by each phase and the actual utilization rate is realized.
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