CN109872531B - Method for constructing optimal control objective function of road network controlled by road traffic signals - Google Patents
Method for constructing optimal control objective function of road network controlled by road traffic signals Download PDFInfo
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Abstract
The invention relates to a method for constructing an optimal control objective function of a road traffic signal control whole road network, which is characterized by comprising the following steps of: selecting an ideal control target model of an undifferentiated intersection; establishing a flow-speed function based on the SCATS signal control parameters; constructing an optimal traffic signal control objective function of a whole road network; and solving the traffic signal control whole road network optimization control objective function based on SCATS. The invention aims to solve the defects of the prior art, provides a method for controlling and optimizing an objective of urban full-road network level traffic signals aiming at the practical application requirements of traffic engineering, fills the technical blank of the signal control objective of urban large-range intersections, provides a theoretical basis for the full-road network traffic control method, can improve the traffic signal control effect and control range, improves the urban traffic management service level, reduces traffic jam and optimizes the traffic travel environment.
Description
Technical Field
The invention relates to construction of a full-road-network optimization control objective function for urban road traffic signal control in a traffic period and a solution algorithm based on SCATS (sequence characterized traffic System), belonging to the technical field of urban road traffic signal control theory and application.
Background
With the continuous development of traffic information technology, the urban traffic system accumulates a large amount of traffic flow acquisition data, system operation data and service application data, and the traffic signal control system at the core position of urban traffic management also accumulates abundant control theories and data bases, so that the urban traffic system is greatly developed in the aspects of single-point intersection signal control, linear intersection control and small-range area coordination control technology. The common signal control strategy comprises saturation balance control, minimum delay control, maximum flow control, single/two-way green wave control and the like, and is realized by signal timing methods such as green signal ratio adjustment, cycle time control, phase position reasonable setting and the like. However, the existing control theory and technology can not support the global control target of the whole road network, and when the scale of the intersection group of the control object exceeds a certain limit, the implementation effect of the methods is limited. In order to study the optimization of group control of intersection at the area level and the road network level in a wider range, an overall target of road network level traffic control needs to be established first.
Disclosure of Invention
The purpose of the invention is: the method is suitable for optimizing the global traffic control scheme which takes a large number of intersections as objects under the road traffic state.
In order to achieve the above object, the technical solution of the present invention is to provide a method for constructing an optimal control objective function for a road traffic signal control whole road network, which is characterized by comprising the following steps:
step 2, constructing input of each control traffic flowMatrix Si＝(A，B，qi，gi) 1, 2, N, will be input into the matrix SiSubstitution into
qiIndicates the phase flow at the ith intersection, giIndicating the green time, v, of the ith intersectioniExpressing the phase speed of the ith intersection, fitting N groups of SCATS traffic control data to obtain a flow-speed function, solving a constant A, B, and combining qi、giCommon substitution
Obtaining a coefficient matrix [ a, b, c, d ]]，
And 3, substituting the coefficient matrix [ a, b, c, d ] into the objective function W':
constraint s.t.0 ≤ xi；
0≤x1+x2+…+xN≤180；
Selecting an ideal control target model of the undifferentiated intersection:
step 4, solving the objective function W' by adopting a gradient ascent algorithm to obtain N independent operation traffic flow phase interval time relations f (x) with different phases and different steering directions1，x2，...，xN)。
The invention aims to solve the defects of the prior art, provides a method for controlling and optimizing an objective of urban full-road network level traffic signals aiming at the practical application requirements of traffic engineering, fills the technical blank of the signal control objective of urban large-range intersections, provides a theoretical basis for the full-road network traffic control method, can improve the traffic signal control effect and control range, improves the urban traffic management service level, reduces traffic jam and optimizes the traffic travel environment.
Drawings
FIG. 1 is a schematic diagram of a process for building a target model;
FIG. 2 is a schematic diagram of the process steps of the present invention;
fig. 3 is a layout diagram of traffic flows included in the optimization control object solved in the present example in the road network.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The invention is realized by the following technical scheme, and the invention specifically comprises the following steps:
(1) selecting an ideal control target model of an undifferentiated intersection;
(2) establishing a flow-speed function based on the SCATS signal control parameters;
(3) constructing an optimal traffic signal control objective function of a whole road network;
(4) and solving the traffic signal control whole road network optimization control objective function based on SCATS.
The derivation process of the invention comprises the following parts:
model construction method of all-road-network optimization control objective function controlled by urban road traffic signals
1. Selecting an ideal control target model of an undifferentiated intersection
In the traffic signal control theory, traffic flow which is not controlled by signals runs to meet a flow-speed curve of a flow-density-speed basic theory, and according to a certified MFD theory, the traffic characteristics of a road network also accord with the flow-density speed basic theory, so that the road network also accords with the communication basic theory in the traffic stage of signal control conditions. The general and undifferentiated intersection in the urban road traffic signal control is taken as an object, and when the space traffic state reaches the optimum in a period of continuous time, namely when the control expected effect is infinitely close to the theoretical optimum flow curve, the total flow of the intersection is maximum, and the corresponding average speed is optimum. Thus, the intersection control objectives are:
Max∫q·dv (1)
in the formula (1), q represents a flow rate and v represents a velocity.
Defining the function T ═ q · dv, according to traffic flow theory, the flow q is a function of the speed v, so T transforms into:
T＝∫f(v)·dv。
2. construction of optimal traffic signal control objective function of whole road network
And selecting a control range comprising N intersection scale control ranges or N intersection scale control ranges of a whole network in a continuous time, wherein the total control target is that the expected effect in the control range is infinitely close to the theoretical optimal flow curve, the total flow of the intersections in the control range is maximum, and the corresponding average vehicle speed is optimal. The optimal traffic signal control objective function of the whole road network is constructed as follows:
in the formula (2), TiAs a function T of the ith intersection.
Second, full road network optimization control objective function solving method for urban road traffic signal control based on SCATS system data
1. SCATS-based all-road-network optimal control objective function formula for urban road traffic signal control
A flow-speed functional relation is obtained by a method for fitting Sydney self-adaptive coordination control signal system SCATS signal control parameter data:
in the formula (3), g is the green time, v is the average vehicle speed, and A, B is a constant.
Equation (2) thus translates to:
substituting the flow-speed function relationship to obtain:
Thereby to obtain
Namely to find out
2. Full-road-network optimization control objective function solving method for urban road traffic signal control based on SCATS
In the range of an urban road traffic signal control area, the number of the contained signal intersections is N, and the all-road network optimization control objective function W' controlled by the traffic signal in the area is the green light phase time g of each intersection in a signal period1,g2,g3，...，gNW' ═ f (g1, g2, g3,.., gN). To simplify the model solution complexity, let:
obtaining:
the general solution model for W 'is transformed into an optimization problem targeting W', i.e.:
an objective function: max (f (x))1，x2，...，xN) Whereinsaid:
namely, it is
Constraint s.t.0 ≤ xi；
J denotes a combination scheme where there is a set of control phases, JiThe number of control phases contained in the jth intersection is shown, m is the number of all control phases in the control range, and N is the number of N intersections in the control range.
Finding X ═ X1，x2，…，xN)
The known parameters are:
the multivariate nonlinear optimization problem is solved by adopting algorithms such as gradient rise and the like, and the detailed description is given in an embodiment.
The invention is further illustrated below with reference to specific data:
in order to better understand the method provided by the embodiment, a certain area of the Shanghai Xuhui area is selected to construct and solve the whole road network optimization objective function for urban road traffic signal control, and the method can be applied to control objects consisting of all intersections and adjacent intersections contained in different urban road networks or areas. The example requires that the detection data of the SCATS induction coil detector of the road section in a period of time is provided, and the detection data comprises information of traffic flow, phase and the like.
The specific implementation steps of the embodiment are as follows:
(1) control object selection
In order to make this embodiment include typical control scenes of the road network as much as possible, 12 independent traffic flows with different phases and different turning directions along a trunk road in the creep and merge area and related cross road intersections thereof are selected, including main direction traffic flows, cross traffic flows, coordinated phase traffic flows and traffic flows in sub-areas. Selecting 15 pm in the spring of 2013: 00-19: the SCATS traffic control data for 00 has a total of 840 groups of 70, including phase flow q, green time g, and so on.
(2) Establishing a flow-velocity function
Constructing an input matrix S for each control flowi＝(A，B，qi，gi) 1, 2, 12. Will SiTaking in formula (3), fitting the 70 sets of SCATS data to obtain a flow-speed function, solving constants A and B, and combining qi、giCommon substitution
Obtaining a coefficient matrix [ a, b, c, d ]]，
The data of this embodiment is calculated to form the following input matrix:
(3) construction of optimized traffic control objective function of whole road network
And substituting the coefficient matrix into W' to form a whole road network optimized traffic control objective function based on SCATS data: max (f (x))1，x2，...，xN) Whereinsaid:
namely, it is
Constraint s.t.0 ≤ xi；
J denotes a combination scheme where there is a set of control phases, JiThe number of control phases contained in the jth intersection is shown, m is the number of all control phases in the control range, and N is the number of N intersections in the control range.
Solving of multivariate nonlinear optimization problem representing (4) objective function
The W' function is a typical nonlinear optimization problem, the method adopts a gradient ascending algorithm to solve, and adopts C language programming to realize the solving process of 70 groups of data, and finally the phase time-sharing relation f (x) of the 12 traffic flows is obtained1，x2，...，x12) The results are as follows: f (x)1，x2，...，x12)
＝(7.86,7.37,11.44,6.36,16.00,16.00,14.49,15.51,9.58,16.00,11.60,10.81)。
Claims (1)
1. A road traffic signal control whole road network optimization control objective function construction method is characterized by comprising the following steps:
step 1, acquiring a plurality of sets of SCATS traffic control data of a target time period, wherein the SCATS traffic control data comprise phase flow q and green light time g of N independent running traffic flows with different phases and different steering directions at each road intersection of a target area;
step 2, constructing an input matrix S of each control traffic flowi＝(A，B，qi，gi)，i＝1, 2, N, will be input into the matrix SiSubstitution into
qiIndicates the phase flow at the ith intersection, giIndicating the green time, v, of the ith intersectioniExpressing the phase speed of the ith intersection, fitting N groups of SCATS traffic control data to obtain a flow-speed function, solving a constant A, B, and combining qi、giCommon substitution
Obtaining a coefficient matrix [ a, b, c, d ]]，
And 3, substituting the coefficient matrix [ a, b, c, d ] into the objective function W':
constraint s.t.0 ≤ xi；
0≤x1+x2+…+xN≤180；
Selecting an ideal control target model of the undifferentiated intersection:
step 4, solving the objective function W' by adopting a gradient ascent algorithm to obtain N independent operation traffic flow phase interval time relations f (x) with different phases and different steering directions1，x2，...，xN) The method comprises the following steps:
the intersection control target is as follows:
Max∫q·dv (1)
in the formula (1), q represents a flow rate, and v represents a velocity;
defining the function T ═ q · dv, according to traffic flow theory, the flow q is a function of the speed v, so T transforms into:
T＝∫f(v)·dv；
selecting a control range including N intersection scale control ranges or N intersection scale control ranges of a whole network in a continuous time, wherein the total control target is that an expected effect in the control range is infinitely close to a theoretical optimal flow curve, the total flow of the intersections in the control range is maximum, and the corresponding average vehicle speed is optimal; the optimal traffic signal control objective function of the whole road network is constructed as follows:
in the formula (2), TiIs a function T of the ith intersection;
obtaining a flow-speed functional relation by a method of fitting SCATS signal control parameter data of a Sydney self-adaptive coordination control signal system:
in the formula (3), g is a green time, v is an average vehicle speed, and A, B are constants respectively;
equation (2) thus translates to:
substituting the flow-speed function relationship to obtain:
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