CN109872544A - A kind of control method and device of traffic signals - Google Patents

A kind of control method and device of traffic signals Download PDF

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Publication number
CN109872544A
CN109872544A CN201711266193.5A CN201711266193A CN109872544A CN 109872544 A CN109872544 A CN 109872544A CN 201711266193 A CN201711266193 A CN 201711266193A CN 109872544 A CN109872544 A CN 109872544A
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phase
lane
duration
intersection
time
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刘杰
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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Abstract

The embodiment of the invention provides a kind of control method and device of traffic signals, by obtaining the vehicle flowrate of the road information, timing reference information and each bicycle road of intersection in preceding preset duration；It can determine the phase, phase sequence, signal period duration and the corresponding split of each phase of the intersection in next objective time interval；And according to the split of identified phase, phase sequence, signal period duration and each phase, traffic signalization is carried out.The technical solution provided through the embodiment of the present invention, according to the vehicle flowrate interior for the previous period counted, corresponding phase, phase sequence, signal period duration and split are determined for different periods, and then it can determine the control method of the traffic signals of different periods, the traffic signal control method determined in this way is based on the actual traffic situation in the nearly a period of time of intersection, have certain real-time, and is that dynamic adjusts, and then is more advantageous to alleviation traffic pressure.

Description

A kind of control method and device of traffic signals
Technical field
The present invention relates to field of intelligent transportation technology, more particularly to a kind of control method and device of traffic signals.
Background technique
With the development of science and technology, social progress, traffic system is also gradually intelligent, using intelligentized intersection timing Method is changed traditional traffic lights to a certain extent and is controlled by the way of " fixed pairing ", wherein " fixation is matched It is right " mode refer to: red light and green light show the time of the fixation duration of setting respectively.
In existing intelligent transportation system, be typically based on intersection timing method realize traffic signalization, it is each area, Different intersection timing methods can be arranged in each intersection according to traffic conditions, and then realizes different traffic signals controls System.Currently, common intersection timing method has TRRL method, ARRB method, United States highways calculation of capacity handbook HCM method, stops Fare method and conflict point method etc..By intersection timing method, the traffic lights in traffic system can be carried out automatic Coordinate and control, so that stop frequency, delay time at stop reduce, and then traffic system is utilized into maximization.
Existing intersection timing method has stronger professional, and needs to put into a large amount of manpower, by complexity Artificial calculating can just obtain a set of traffic signal control scheme, and then traffic lights are controlled.However, based on existing The obtained traffic signal control method of intersection timing method, the traffic signal control method meeting within a very long time It remains unchanged, in this way, will lead to used traffic signal control method is not suitable for the actual traffic behavior in intersection, very To leading to more serious traffic pressure.
Summary of the invention
The control method and device for being designed to provide a kind of traffic signals of the embodiment of the present invention, so as to intersection Traffic signalization there is certain real-time, and be that dynamic adjusts, and then be more advantageous to alleviation traffic pressure.Specific skill Art scheme is as follows:
In a first aspect, being applied to signal controlling machine, institute the embodiment of the invention provides a kind of control method of traffic signals The method of stating includes:
Obtain the road information, timing reference information and the crossroad of the controlled intersection of the signal controlling machine Vehicle flowrate of each bicycle road of mouth in preceding preset duration, wherein the road information is bicycle included by the intersection The parameter information in road, the timing reference information are the parameter information that the traffic signals are carried out with timing；
According to the road information, the timing reference information and vehicle flowrate obtained, determine in next objective time interval The phase of the interior intersection；
According to phase precedence information included by the timing reference information, the phase of the phase of the intersection is determined Sequence；
According to the road information, the timing reference information, the quantity of determined phase and vehicle flowrate obtained, Determine signal period duration of the intersection in next objective time interval；
According to the signal period duration, the corresponding split of identified each phase is calculated；
According to identified phase, the phase sequence, the signal period duration and the corresponding green letter of identified each phase Than carrying out traffic signalization.
Optionally, the road information includes: each one-lane lane attribute in the intersection；
It is described according to the road information, the timing reference information and vehicle flowrate obtained, determine in next target In period the step of the phase of the intersection, comprising:
According to each one-lane lane attribute, the dedicated bicycle road of turning in the intersection bicycle road is determined, make For the dedicated bicycle road of first kind turning；
From the dedicated bicycle road of first kind turning, there is no the one-lane turnings of corresponding first kind mixing for selection specially With bicycle road, turn dedicated bicycle road as the second class, wherein the corresponding first kind of a dedicated bicycle road of turning mixes bicycle Road are as follows: the identical bicycle road of turn direction for belonging to same phase with the dedicated bicycle road of the turning and supporting；
According to the dedicated one-lane lane attribute of third class turning, the first newly-increased phase is determined, wherein the third class turns Curved dedicated bicycle road are as follows: second class vehicle flowrate in dedicated bicycle road of turning is greater than the dedicated list of turning of default vehicle flowrate threshold value Lane；
According to the described first newly-increased phase, the phase of the intersection described in next objective time interval is determined.
Optionally, described according to each one-lane lane attribute, determine that the turning in the intersection bicycle road is special With bicycle road, as the first kind turn dedicated Lanes the step of after, further includes:
From the dedicated bicycle road of first kind turning, there are the one-lane turning of corresponding first kind mixing is dedicated for selection Lane, as the dedicated bicycle road of the 4th class turning；
It obtains each first kind and mixes one-lane turning ratio；
According to the following formula, the first vehicle flowrate is estimated, wherein first vehicle flowrate is the dedicated list of the 4th class turning Lane mixes the vehicle flowrate in the same turn direction that bicycle road is supported with the first kind:
Wherein, L1For the dedicated one-lane vehicle flowrate of the 4th class turning, L2It is mixed in bicycle road for the first kind Vehicle flowrate,One-lane turning ratio is mixed for the first kind；
According to the dedicated one-lane lane attribute of the 5th class turning, the second newly-increased phase is determined, wherein the 5th class turns Curved dedicated bicycle road are as follows: the 4th class corresponding the first vehicle flowrate in dedicated bicycle road of turning is greater than the default vehicle flowrate The dedicated bicycle road of the turning of threshold value；
According to the described second newly-increased phase, the phase of the intersection described in next objective time interval is determined.
Optionally, the timing reference information includes: the amber light duration of each phase in the intersection, the intersection The green light interval duration of each phase；
The step of signal period duration of the determination intersection in next objective time interval, comprising:
Obtain the start-up lost time of each phase in the intersection；
According to the start-up lost time of each phase, the quantity of the phase of the intersection, the amber light duration of each phase and The green light interval duration of each phase, obtains the signal total losses time；
The sum of according to each one-lane vehicle flowrate, obtain the maximum stream flow ratio of each phase, and obtain maximum stream flow ratio；
According to the sum of the signal total losses time, maximum stream flow ratio, the signal period duration is obtained.
Optionally, described according to the start-up lost time of each phase, the quantity of the phase of the intersection, each phase The green light interval duration of amber light duration and each phase, the step of obtaining the signal total losses time, comprising:
According to the start-up lost time of each phase, the quantity of the phase of the intersection, the amber light duration of each phase and The green light interval duration of each phase estimates the signal total losses time according to following formula:
Wherein, n is the quantity of the phase of the intersection, TjSFor the start-up lost time of j-th of phase, Tj1For jth The green light interval duration of a phase, Tj2For the amber light duration of j-th of phase.
Optionally, described that the maximum stream flow ratio of each phase is obtained according to each one-lane vehicle flowrate, and obtain max-flow The step of the sum of amount ratio, comprising:
According to each one-lane vehicle flowrate, each one-lane saturation volume, each one-lane flow-rate ratio is obtained；
From the one-lane flow-rate ratio that each phase is included, the maximum stream flow ratio of each phase is obtained；
By the maximum stream flow of each phase than summation, the sum of described maximum stream flow ratio is obtained.
Optionally, described according to the sum of the signal total losses time, maximum stream flow ratio, obtain the signal period The step of duration, comprising:
According to the sum of the signal total losses time, maximum stream flow ratio, the signal week is estimated according to following formula Phase duration:
Wherein, T is the signal total losses time, and Y is the sum of maximum stream flow ratio, and a, b, c are constant.
Optionally, the road information further include: each one-lane lane width and the lane gradient；
It is described according to each one-lane vehicle flowrate, each one-lane saturation volume, obtain each one-lane flow Compare the step of, comprising:
According to the preset base saturation flow table of comparisons, each one-lane base saturation flow is determined, wherein the base The corresponding relationship of this saturation volume table of comparisons record lane attribute and base saturation flow；
According to each one-lane lane width, the lane width correction coefficient in each lane is obtained according to following formula:
Wherein, W is the lane width, and d, e, h, k, m, n, u, s are constant；
The ratio shared by the quantity of heavy goods vehicles in the preset duration is obtained in each bicycle road, and according to the ratio Example, each one-lane lane gradient, obtain each one-lane gradient and cart correction coefficient according to following formula:
fg=1- (G+HV)
Wherein, G is each lane gradient, and HV is the ratio；
According to each one-lane lane width correction coefficient, the gradient and cart correction coefficient, obtained according to following formula Each one-lane correction coefficient:
f(Fi)=fw×fg；
According to each one-lane correction coefficient, each one-lane base saturation flow, obtained often according to following formula One one-lane saturation volume:
Sd=Sbi×f(Fi)
Wherein, SbiFor each one-lane base saturation flow；
According to each one-lane vehicle flowrate, each one-lane saturation volume, each bicycle is obtained according to following formula The flow-rate ratio in road:
Wherein, q is each one-lane vehicle flowrate.
Optionally, described according to the signal period duration, calculate determined by each phase corresponding split the step of, Include:
According to the signal period duration and the signal total losses time, obtain that the signal period duration is corresponding to be had Imitate long green light time；
According to the corresponding Effective Green Time duration of the obtained signal period duration, when obtaining the Effective Green Time of each phase It is long；
According to the Effective Green Time duration of each phase, the corresponding Effective Green Time duration of the signal period duration, obtain really The split of fixed each phase.
Optionally, described according to the corresponding Effective Green Time duration of the obtained signal period duration, obtain each phase Effective Green Time duration the step of, comprising:
According to the corresponding Effective Green Time duration of the obtained signal period duration, each phase is obtained according to following formula Effective Green Time duration:
Wherein, TjeFor the Effective Green Time duration of j-th of phase, GeIt is corresponding effectively green for obtained signal period duration Lamp duration, Aj0For the maximum stream flow ratio of j-th of phase, Y is the sum of maximum stream flow ratio.
Optionally, when the corresponding Effective Green Time of Effective Green Time duration, the signal period duration according to each phase The step of growing, obtaining the split of identified each phase, comprising:
According to the Effective Green Time duration of each phase, the corresponding Effective Green Time duration of the signal period duration, according to following Formula obtains the split of identified each phase:
Wherein, λjFor the split of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, C0For the signal week Phase duration.
Optionally, the timing reference information further include: pedestrian's street crossing length, pedestrian's street crossing leg speed；
The Effective Green Time duration according to each phase, the corresponding Effective Green Time duration of the signal period duration, obtain After the step of split of identified each phase, further includes:
Pedestrian's street crossing duration is estimated according to following formula:
Wherein, tjFor the corresponding pedestrian's street crossing duration of j-th of phase, LPFor the pedestrian's street crossing length, VPFor the pedestrian Cross the street leg speed, Tj1For the green light interval duration of j-th of phase, wherein v is constant；
The long green light time of each phase is estimated according to following formula, and as estimation long green light time:
Tj3=Tje-Tj2+TjS
Wherein, Tj3For the estimation long green light time of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, Tj2For jth The amber light duration of a phase, TjSFor the start-up lost time of j-th of phase；
Judge whether the estimation long green light time of target phase is greater than the pedestrian's street crossing duration, wherein the target phase For any phase in the phase of the intersection；
If the estimation long green light time of the target phase is greater than the pedestrian's street crossing duration, the target phase is determined Long green light time is estimation long green light time；
If the estimation long green light time of the target phase is not more than the pedestrian's street crossing duration, the target phase is determined Long green light time be the pedestrian's street crossing duration.
Second aspect, the embodiment of the invention provides a kind of control devices of traffic signals, are applied to signal controlling machine, institute Stating device includes:
Module is obtained, for obtaining road information, the timing reference information of the controlled intersection of the signal controlling machine And vehicle flowrate of each bicycle road in intersection in preceding preset duration, wherein the road information is the intersection One-lane parameter information included by crossing, the timing reference information are the parameter letter that the traffic signals are carried out with timing Breath；
First determining module is used for according to the road information, the timing reference information and vehicle flowrate obtained, really It is scheduled on the phase of the intersection in next objective time interval；
Second determining module, for the phase precedence information according to included by the timing reference information, determine described in The phase sequence of the phase of intersection；
Third determining module, for according to the quantity of the road information, the timing reference information, determined phase with And vehicle flowrate obtained, determine signal period duration of the intersection in next objective time interval；
Computing module, for calculating the corresponding split of identified each phase according to the signal period duration；
Traffic signalization module, for true according to identified phase, the phase sequence, the signal period duration and institute The fixed corresponding split of each phase carries out traffic signalization.
The third aspect, the embodiment of the invention provides a kind of electronic equipment, including processor, communication interface, memory and Communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes a kind of any of the above-described traffic signals Control method step.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage Dielectric memory contains computer program, and the computer program realizes a kind of any of the above-described traffic when being executed by processor The control method step of signal.
In technical solution provided in an embodiment of the present invention, the road information of acquisition the controlled intersection of signal controlling machine, Vehicle flowrate of each bicycle road of timing reference information and intersection in preceding preset duration；It, can according to information obtained With the determining phase of intersection in next objective time interval, the phase sequence for the phase for determining intersection, determine that intersection exists Signal period duration in next objective time interval, and calculate the corresponding split of identified each phase；Finally and according to institute Determining phase, phase sequence, signal period duration and the corresponding split of identified each phase, and then carry out traffic signals control System.The technical solution provided through the embodiment of the present invention, according to counted for the previous period in vehicle flowrate, for it is different when Section determines corresponding phase, phase sequence, signal period duration and split, and then can determine the traffic letter of different periods Number control method, the traffic signal control method determined in this way is based on the actual traffic in the nearly a period of time of intersection Situation has certain real-time, and is that dynamic adjusts, and then is more advantageous to alleviation traffic pressure.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.
Fig. 1 is a kind of a kind of flow chart of the control method of traffic signals provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of crossroad provided in an embodiment of the present invention；
Fig. 3 is a kind of another flow chart of the control method of traffic signals provided in an embodiment of the present invention；
Fig. 4 is a kind of another flow chart of the control method of traffic signals provided in an embodiment of the present invention；
Fig. 5 is a kind of another flow chart of the control method of traffic signals provided in an embodiment of the present invention；
Fig. 6 is a kind of a kind of structural schematic diagram of the control device of traffic signals provided in an embodiment of the present invention；
Fig. 7 is a kind of another structural schematic diagram of the control device of traffic signals provided in an embodiment of the present invention；
Fig. 8 is a kind of another structural schematic diagram of the control device of traffic signals provided in an embodiment of the present invention；
Fig. 9 is a kind of another structural schematic diagram of the control device of traffic signals provided in an embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
In order to enable the control to traffic signals has certain real-time, and then traffic benefits can be given full play to, this Inventive embodiments provide a kind of control method and device of traffic signals, are applied to signal controlling machine, this method comprises:
Obtain road information, each list of timing reference information and intersection of the controlled intersection of signal controlling machine Vehicle flowrate of the lane in preceding preset duration, wherein road information is one-lane parameter information included by intersection, timing Reference information is the parameter information that traffic signals are carried out with timing；
According to road information, timing reference information and vehicle flowrate obtained, the crossroad in next objective time interval is determined The phase of mouth；
According to phase precedence information included by timing reference information, the phase sequence of the phase of intersection is determined；
According to road information, timing reference information, the quantity of determined phase and vehicle flowrate obtained, determines and intersect Signal period duration of the crossing in next objective time interval；
According to signal period duration, the corresponding split of identified each phase is calculated；
According to identified phase, phase sequence, signal period duration and the corresponding split of identified each phase, handed over Messenger control.
The technical solution provided through the embodiment of the present invention, according to counted for the previous period in vehicle flowrate, for Different periods determine corresponding phase, phase sequence, signal period duration and split, and then can determine different periods The control method of traffic signals, the traffic signal control method determined in this way are based on the reality in the nearly a period of time of intersection Border traffic condition has certain real-time, and is that dynamic adjusts, and then is more advantageous to alleviation traffic pressure.
Nominal explanation, each reality of the definition and explanation of following word suitable for the embodiment of the present invention are carried out first below Apply mode.
Signal period duration: the signal lamp of each phase shows primary required temporal summation in turn.
Phase: in a signal period, one or several bursts of wagon flows all obtain identical signal lamp at any time Color is shown, then the continuous whole signal phase that they obtain different light colors (green light, amber light, Quan Hong) is just referred to as a letter Number phase.
Phase sequence: the sequencing that each phase is let pass.
Split: Effective Green Time duration (green light, amber light, Quan Hong) and signal period duration in a signal period duration Ratio.
All signal lamps of Quan Hong: one intersection are the time of red light.
Import lane: according to vehicle heading, into the lane of intersection.
Bicycle road: the part of single file vehicle driving is supplied on driveway.
Lane attribute: the direction that the vehicle in each bicycle road of setting can travel.
A kind of method of signal control is introduced first below, as shown in Figure 1, this method is controlled applied to signal Machine, this method comprises:
S101 obtains road information, timing reference information and the intersection of the controlled intersection of signal controlling machine Vehicle flowrate of each bicycle road in preceding preset duration.
Wherein, road information is one-lane parameter information included by intersection, and road information may include following letter At least one of breath: bicycle road quantity that each import lane of intersection is respectively included, each one-lane lane belong to Property, each one-lane lane width and lane gradient etc..Certainly, road information is not limited in above-mentioned four enumerated kind, also It may include one-lane other parameters information included by intersection, it is not limited here.
According to the actual situation, lane width is at least 2.7 meters；The lane gradient is one-lane center line of road point-to-point transmission height With the ratio of horizontal distance, when bicycle road is descending, the lane gradient can be 0.Lane attribute can be with are as follows: turns left, is straight trip, right Turn, Zuo Zhi, straight right, left straight right, left and right etc., when one-lane lane attribute is to turn left, then the vehicle in the bicycle road can only be to Turn left to travel；When one-lane lane attribute is Zuo Zhi, then the vehicle in the bicycle road, which can keep straight on, to turn left to travel.
For example, each import lane includes 3 as shown in Fig. 2, intersection is crossroad, including 4 import lanes Bicycle road, also, according to vehicle heading, the one-lane lane attribute of the leftmost side is Zuo Zhi, intermediate one-lane lane Attribute is straight trip, and the one-lane lane attribute of the rightmost side is to turn right.
Wherein, timing reference information is the parameter information that traffic signals are carried out with timing, and timing reference information may include At least one of following information: blue flash duration, amber light duration, complete red duration, pedestrian's blue flash duration, pedestrian's street crossing length and Pedestrian's street crossing leg speed etc..Certainly, timing reference information is not limited in above-mentioned six enumerated kind, can also include to traffic signals The other parameters information of timing is carried out, it is not limited here.
Wherein, blue flash is green light flashing, generally terminates to flash for former seconds fastly in green light, to remind driver's green light to tie fastly Shu Liao.Pedestrian's blue flash is then to remind pedestrian's green light to finish fastly.It is complete it is red be all signal lamps an of intersection be red The time of lamp, for example, the signal lamp in the thing straight trip direction of crossroad is become after red light 2 seconds by amber light, north and south straight trip side To signal lamp green light just become by red light, this 2 second time is complete red duration, and within this 2 seconds time, the four crossway All signal lamps of mouth are red light；The setting of complete red duration can guarantee when next green light is opened on another direction not It has vehicle to continue to travel, and then improves the safety of intersection.
Customized setting can be for timing reference information, for example, amber light duration can be set to 3 seconds, Quan Hongshi Length can be set to 2 seconds, and pedestrian's street crossing leg speed can be according to the data that count several pedestrian's street crossing leg speeds and then obtain.
Intersection each one-lane vehicle flowrate can be to be detected by video vehicle checker, and intersection is settable An at least video vehicle checker, also, video vehicle checker and signal controlling machine communicate to connect, and video vehicle checker can will be detected Data be sent to signal controlling machine.
Video vehicle checker can carry out Life cycle video flow detection, i.e. video vehicle checker data collected are used Timing method in the intersection.Also, video vehicle checker can acquire each one-lane vehicle flowrate, each of intersection Bicycle road average speed, time headway, space headway, bicycle road time occupancy, bicycle road space occupancy, type of vehicle, One-lane turning ratio etc..
Wherein, type of vehicle can be divided into compact car, in-between car, heavy goods vehicles etc., and vehicle flowrate can be divided into compact car wagon flow Amount, in-between car vehicle flowrate, heavy type vehicle flow etc..One-lane vehicle of the turning than indicating in the bicycle road in a certain turn direction Flow accounts for the ratio of entire vehicle flowrate in the bicycle road, for example, one-lane lane attribute is Zuo Zhi, then turns in the bicycle road Curved ratio are as follows: the ratio of whole vehicle flowrates in the bicycle road shared by the vehicle flowrate to turn left in the bicycle road.
The full name that video vehicle checker can be 24 hours to the acquisition of the data of intersection acquires, therefore, to vehicle flowrate Acquisition can be whole unremitting acquisition.Preset duration can be customized setting, for example, it may be previous week Interior video vehicle checker each one-lane vehicle flowrate collected, alternatively, can also be in the period longer than week age Vehicle flowrate.
S102, according to road information, timing reference information and vehicle flowrate obtained, determination is handed in next objective time interval The phase of cross road mouth.
The division of period can be artificial manual division, generally by timing personnel according to local early evening peak, Ping Feng It is divided with slack hours section, the early evening peak of the intersection, flat peak and low only for intersection, can also be divided Peak.For example, timing personnel can will be divided into the morning peak period in 7 points to 9 points of morning, it is divided into evening peak at 17 points to 19 points at night Period.
The division of period may also is that by counting to traffic flow data, and using clustering methodology to being united The data of meter are analyzed, and divide the optimal period automatically.The division of period is carried out using this method, the degree of automation is higher, section Human resources are saved.
The control method of traffic signals in one period can be it is the same, therefore, can be in each period Phase, phase sequence, cycle duration and the split in period that determination will reach before reaching, and then can determine in the period Traffic signals control method.
For example, next objective time interval is the morning peak period: then may be set in 30 timesharing of 6:00 AM 7 points to 9 points of morning It determines the phase of morning peak period, and continues to determine phase sequence, cycle duration and the split of morning peak period, and then determine The control method of traffic signals in the morning peak period.
S103 determines the phase sequence of the phase of intersection according to phase precedence information included by timing reference information.
Phase precedence information, which can be, is directed to left turn phase, straight trip phase and right-hand rotation phase etc., and the phase is preferential It may include the successive clearance sequence turned left, keep straight on, turned right in grade information.Generally, it is contemplated into actual conditions, big portion It is provided with right-hand rotation special lane in the intersection divided, also, right-turning vehicles can not be limited by traffic lights.Accordingly it is also possible to The successive clearance sequence that only determines and keep straight in phase precedence information: turning left in advance, alternatively, straight trip is in advance.
For example, intersection is crossroad, and the crossroad includes 4 phases: thing is kept straight on, thing turns left, North and south straight trip, north and south are turned left.When in phase precedence information for straight trip in advance, then the phase sequence of the crossroad at this time are as follows: thing Straight trip, thing are turned left, north and south is kept straight on, north and south is turned left；When in phase precedence information to turn left in advance, then the crossroad at this time Phase sequence are as follows: thing turn left, thing straight trip, north and south turn left, north and south straight trip.
S104, according to road information, timing reference information, the quantity of determined phase and vehicle flowrate obtained, really Determine signal period duration of the intersection in next objective time interval.
Signal period duration is also related with the factors such as the speed of the intersection, going through ability, phase sequence.Also, one As in the case of, the saturation degree of intersection is higher, then signal period duration Ying Yuechang, and the saturation degree of intersection is lower, then believes Number cycle duration is shorter.Wherein, the saturation degree of intersection are as follows: the actual traffic flow of the intersection and the intersection The ratio of saturate passing capacity.Saturation degree is to reflect one of the important indicator of Assessment of Serviceability of Roads.
Signal period duration is the important parameter in the traffic signalization for influence intersection, therefore, suitable signal The setting of cycle duration has a major impact the evacuation and reduction vehicle delay of the traffic flow of intersection.
The signal period duration of intersection are as follows: the sum of corresponding period of each phase included by the intersection.For example, Crossroad only includes two phases: thing straight trip and north and south straight trip.Wherein, the phase cycling of thing straight trip is 15 seconds, north and south The phase cycling of straight trip is 20 seconds, then a length of 35 seconds when the signal period of the crossroad.
There are many calculation methods of signal period duration, such as TRRL method, ARRB method, HCM method etc., in the examples below It is specifically introduced, this will not be detailed here.
S105 calculates the corresponding split of identified each phase according to signal period duration.
Split is the ratio of Effective Green Time duration and signal period duration in a cycle, can be and is directed to each For phase, at this point, the ratio of the Effective Green Time duration of each phase and signal period duration is the green letter of the phase Than.Wherein, Effective Green Time duration includes long green light time, amber light duration and complete red duration.
After the split for determining each phase, and then the long green light time of each phase can be determined, in following reality It applies in example and describes in detail, this will not be detailed here.
S106, according to identified phase, phase sequence, signal period duration and the corresponding split of identified each phase, Carry out traffic signalization.
4 phase, phase sequence, signal period duration and split parameters can determine intersection in next objective time interval Interior traffic signal control scheme with this solution can control traffic signals.
Certainly, phase, phase sequence, signal period duration and the split determined are formed by traffic signalization side Case is only applicable to next objective time interval, can for the control program of the traffic signals of other periods other than next objective time interval To redefine phase, phase sequence, signal period duration and split again.
In technical solution provided in an embodiment of the present invention, the road information of acquisition the controlled intersection of signal controlling machine, Vehicle flowrate of each bicycle road of timing reference information and intersection in preceding preset duration；It, can according to information obtained With the determining phase of intersection in next objective time interval, the phase sequence for the phase for determining intersection, determine that intersection exists Signal period duration in next objective time interval, and calculate the corresponding split of identified each phase；Finally and according to institute Determining phase, phase sequence, signal period duration and the corresponding split of identified each phase, and then carry out traffic signals control System.The technical solution provided through the embodiment of the present invention, according to counted for the previous period in vehicle flowrate, for it is different when Section determines corresponding phase, phase sequence, signal period duration and split, and then can determine the traffic letter of different periods Number control method, the traffic signal control method determined in this way is based on the actual traffic in the nearly a period of time of intersection Situation has certain real-time, and is that dynamic adjusts, and then is more advantageous to alleviation traffic pressure.
Based on the corresponding embodiment of above-mentioned Fig. 1 and Fig. 1, the embodiment of the present invention also provides a kind of controlling party of traffic signals Method, as shown in figure 3, this method comprises:
S301 obtains road information, timing reference information and the intersection of the controlled intersection of signal controlling machine Vehicle flowrate of each bicycle road in preceding preset duration.
In the present embodiment, step S301 is identical as the S101 in above-described embodiment, can be with reference to S101 in above-described embodiment Part, details are not described herein.
S302 determines the dedicated bicycle road of turning in the bicycle road of intersection according to each one-lane lane attribute, makees For the dedicated bicycle road of first kind turning.
In the present embodiment, road information may include: each one-lane lane attribute of intersection.
Wherein, dedicated bicycle road of turning refers to the bicycle road that can only turn to a direction, may include that left-hand rotation is dedicated Lane, dedicated Lanes of turning right, the dedicated Lanes that turn around etc..
For example, in crossroad as shown in Figure 2, including 4 import lanes, each import lane include a right side Turn dedicated bicycle road, therefore, which includes 4 dedicated bicycle roads of turning right, this 4 dedicated bicycle roads of turning right are as first The dedicated bicycle road of class turning.
In a practical situation, either right-hand rotation dedicated Lanes still include right-hand rotation direction all-purpose road, the most right side The vehicle turned on direction can not be by traffic light control, and the vehicle to turn around can not also be by traffic light control, therefore, and the present invention is real The turning applied in example is illustrated for turning left.
Certainly, under normal circumstances, intersection includes at least the lane attribute of straight trip, accordingly, it is believed that straight trip phase For master phase.For example, intersection is crossroad, it is believed that thing straight trip and north and south are kept straight on as two master phases.
S303, from the dedicated bicycle road of first kind turning, there is no the corresponding first kind to mix one-lane turning for selection Dedicated bicycle road, as the dedicated bicycle road of the second class turning.
Wherein, the corresponding first kind of a dedicated bicycle road of turning mixes bicycle road are as follows: with the dedicated bicycle road category of the turning In same phase and the identical bicycle road of turn direction of support.
If individually turning phase, the first kind mix bicycle road to corresponding one of dedicated one-lane lane attribute of turning It also include the turning phase, in this case, the dedicated bicycle road of the turning mixes bicycle road with the first kind and belongs to same turning phase Position.If the dedicated one-lane lane attribute of turning and the lane attribute of straight trip belong to same phase, i.e. the dedicated bicycle road of the turning Also belong to straight trip phase, the first kind mixing bicycle road also belong to straight trip phase, in this case, the dedicated bicycle road of the turning with First kind mixing bicycle road belongs to same straight trip phase.
For example, the dedicated bicycle road of turning of intersection is the dedicated bicycle road of left-hand rotation on east-west direction, then the left-hand rotation is special It may include: left straight mixing bicycle road, left and right mixing bicycle road etc. with the corresponding first kind mixing bicycle road of bicycle road.
The first kind is turned, and there is no the corresponding first kind to mix one-lane feelings for the turning dedicated Lanes in dedicated bicycle road Under condition, in the dedicated one-lane same direction of the turning, other bicycle roads in addition to the dedicated bicycle road of the turning are not wrapped The dedicated one-lane turn direction of the turning is included,
For example, crossroad as shown in Figure 2, the dedicated bicycle road of turning on east-west direction is dedicated bicycle of turning right Road, and other bicycle roads on east-west direction do not include right-hand rotation direction, therefore, there is no corresponding for the dedicated bicycle road of the right-hand rotation The first kind mixes bicycle road, also, the dedicated bicycle road of the right-hand rotation is the dedicated bicycle road of the second class turning.
S304 determines the first newly-increased phase according to the dedicated one-lane lane attribute of third class turning.
Wherein, the dedicated bicycle road of third class turning are as follows: vehicle flowrate is greater than default wagon flow in the dedicated bicycle road of the second class turning Measure the dedicated bicycle road of turning of threshold value.
Default vehicle flowrate threshold value can be customized setting, for example, default vehicle flowrate threshold value can be set as 90pcu/h (passenger car unit/hour, the equivalent volume of traffic/hour), wherein pcu/h can indicate the equivalent traffic capacity, i.e., singly Position the time in may by maximum traffic entity number.
In the present embodiment, it can be based on phase of keeping straight on, i.e., be to include at least straight trip phase in intersection Premise on the basis of including straight trip phase, then judges whether intersection needs to increase other phases newly.If the turning of the second class is special When being not more than default vehicle flowrate threshold value with the vehicle flowrate in bicycle road, then new phase is not increased.
For example, default vehicle flowrate threshold value is set as 90pcu/h, it include the dedicated list that turns left in the dedicated bicycle road of the second class turning Lane can then determine that the dedicated bicycle road of the left-hand rotation belongs to when the vehicle flowrate in the dedicated bicycle road of the left-hand rotation is greater than 90pcu/h The dedicated bicycle road of third class turning, also, determine that the first newly-increased phase is left turn phase.
S305 determines the phase of the intersection in next objective time interval according to the first newly-increased phase.
On the basis of the first newly-increased phase, along with straight trip phase, then it can determine to intersect in next objective time interval Phase included by crossing.
For example, intersection is crossroad, master phase is thing straight trip and north and south straight trip, and the first newly-increased phase is east It is western to turn left to turn left with north and south, then it can determine that the phase of intersection in next objective time interval includes: thing straight trip, a thing left side Turn, north and south straight trip, north and south left-hand rotation.
S306 determines the phase sequence of the phase of intersection according to phase precedence information included by timing reference information.
S307, according to road information, timing reference information, the quantity of determined phase and vehicle flowrate obtained, really Determine signal period duration of the intersection in next objective time interval.
S308 calculates the corresponding split of identified each phase according to signal period duration.
S309, according to identified phase, phase sequence, signal period duration and the corresponding split of identified each phase, Carry out traffic signalization.
In the present embodiment, step S306 to S309 is identical as the S103 to S106 in above-described embodiment, can refer to above-mentioned The part of S103 to S106 in embodiment, details are not described herein.
In the first embodiment, turn according to each one-lane lane attribute, determining in the bicycle road of intersection Curved dedicated bicycle road, as the first kind turn dedicated Lanes (S302) the step of after, can also include the following steps:
1, from the dedicated bicycle road of first kind turning, there are the corresponding first kind to mix one-lane turning special-purpose vehicle for selection Road, as the dedicated bicycle road of the 4th class turning；
2, it obtains each first kind and mixes one-lane turning ratio；
3, according to the following formula, estimate the first vehicle flowrate, wherein the first vehicle flowrate be the 4th class turn dedicated bicycle road with The vehicle flowrate in same turn direction that first kind mixing bicycle road is supported:
Wherein, L1For the dedicated one-lane vehicle flowrate of the 4th class turning, L2Turn direction in bicycle road is mixed for the first kind Vehicle flowrate,One-lane turning ratio is mixed for the first kind；
4, according to the dedicated one-lane lane attribute of the 5th class turning, the second newly-increased phase is determined, wherein the turning of the 5th class Dedicated bicycle road are as follows: the 4th class corresponding the first vehicle flowrate in dedicated bicycle road of turning is greater than the turning of default vehicle flowrate threshold value Dedicated bicycle road；
5, according to the second newly-increased phase, the phase of the intersection described in next objective time interval is determined.
Each step in the first above-mentioned embodiment is illustrated respectively below:
1, from the dedicated bicycle road of first kind turning, there are the corresponding first kind to mix one-lane turning special-purpose vehicle for selection Road, as the dedicated bicycle road of the 4th class turning.
Wherein, the first kind in the first kind mixing bicycle road embodiment corresponding with Fig. 3 in present embodiment mixes single Lane is identical, that is, the corresponding first kind of a dedicated bicycle road of turning mixes bicycle road are as follows: belongs to the dedicated bicycle road of the turning Same phase and the identical bicycle road of turn direction supported.It specifically may refer to mix bicycle to the first kind in step S303 The explanation in road, details are not described herein.
4th class is turned, and there are the corresponding first kind to mix bicycle road for the dedicated bicycle road of turning in dedicated bicycle road, i.e., and the Four classes turn the dedicated one-lane turn direction of turning in dedicated bicycle road with the first kind mix bicycle road included in turn Curved direction is identical.
It include the dedicated bicycle road of left-hand rotation in dedicated bicycle road for example, the first kind is turned, then the dedicated bicycle road institute of the left-hand rotation is right It include the turn direction of left-hand rotation in the first kind mixing bicycle road answered, at this point, first kind mixing bicycle road can be with are as follows: left straight mixing Bicycle road, left and right mixing bicycle road etc., also, the dedicated bicycle road of the left-hand rotation can be used as the dedicated bicycle road of the 4th class turning.
2, it obtains each first kind and mixes one-lane turning ratio.
The first kind, which mixes, includes at least two vehicle headings in bicycle road, for example, left straight mixing bicycle road includes a left side Turn direction and straight trip direction, left straight right mixing bicycle road includes left-hand rotation direction, straight trip direction and right-hand rotation direction.
Wherein, one-lane turning is than indicating that it is whole in the bicycle road that the vehicle flowrate in the bicycle road in a certain turn direction accounts for The ratio of a vehicle flowrate, for example, left directly mix one-lane turning ratio are as follows: the left side directly mixes the vehicle flowrate institute turned left in bicycle road Account for the ratio of whole vehicle flowrates in the bicycle road.
The one-lane turning ratio of each mixing can be obtained by video vehicle checker, and video vehicle checker can will be obtained Each one-lane turning ratio of mixing is sent to signal controlling machine.In this way, signal controlling machine can get each mixing list The turning ratio in lane.
3, according to the following formula, estimate the first vehicle flowrate, wherein the first vehicle flowrate be the 4th class turn dedicated bicycle road with The vehicle flowrate in same turn direction that first kind mixing bicycle road is supported:
Wherein, L1For the dedicated one-lane vehicle flowrate of the 4th class turning, L2The vehicle flowrate in bicycle road is mixed for the first kind,One-lane turning ratio is mixed for the first kind.
Wherein,Obtained is to be supported in first kind mixing bicycle road with the dedicated bicycle road of the 4th class turning Same turn direction on vehicle flowrate, for example, first kind mixing bicycle road is left straight mixing bicycle road, the turning of the 4th class is dedicated Bicycle road is dedicated bicycle road of turning left,For the turning ratio in left straight mixing bicycle road, L2To turn left in left straight mixing bicycle road and Total vehicle flowrate of straight trip,Obtained is the vehicle flowrate in left-hand rotation direction in left straight mixing bicycle road.
The vehicle flowrate that the vehicle flowrate of turn direction in first kind mixing bicycle road and the 4th class are turned in dedicated bicycle road The sum of, just constitute the vehicle flowrate of the first vehicle flowrate namely the turn direction in same phase.Certainly, the first kind mixes bicycle road Turn direction and the 4th class dedicated one-lane turn direction of turning it is identical.
For example, intersection is crossroad, it is thing straight trip phase on east-west direction, is directed to thing straight trip phase Position, the 4th class turns dedicated bicycle road as dedicated bicycle road of turning left, and the dedicated one-lane vehicle flowrate of the left-hand rotation is 70pcu/h, It is left straight mixing bicycle road that the first kind, which mixes bicycle road, and the left side directly mixes one-lane turning than being 0.4, which directly mixes single Total vehicle flowrate on lane is 80pcu/h；So, according to above formula, it can be deduced that: 70+80 × 0.4=102, the then four crossway The vehicle flowrate to turn left in the thing straight trip phase of mouth is 102pcu/h.
4, according to the dedicated one-lane lane attribute of the 5th class turning, the second newly-increased phase is determined, wherein the turning of the 5th class Dedicated bicycle road are as follows: the 4th class corresponding the first vehicle flowrate in dedicated bicycle road of turning is greater than the turning of default vehicle flowrate threshold value Dedicated bicycle road.
It after above-mentioned steps 3 determine the first vehicle flowrate, is compared with default vehicle flowrate threshold value, wherein default vehicle Flow threshold can be customized setting.
When calculating obtained first vehicle flowrate no more than the preset flow threshold value, does not then increase new phase, that is, protect Hold current phase invariant.
When calculating obtained first vehicle flowrate greater than the preset flow threshold value, by the corresponding turning of the first vehicle flowrate Dedicated bicycle road is determined as the dedicated bicycle road of the 5th class turning.5th class turns what dedicated one-lane turn direction as increased newly Turning phase.
Corresponding first vehicle flowrate of the dedicated bicycle road of left-hand rotation for example, the 4th class is turned in dedicated bicycle road is 100pcu/ H is greater than default vehicle flowrate threshold value 90pcu/h, then the dedicated bicycle road of the left-hand rotation can be determined as to the dedicated bicycle of the 5th class turning Road, at this point, the 5th class is turned dedicated one-lane turn direction be turn left, accordingly, it is determined that the second newly-increased phase be to turn left Phase.
5, according to the second newly-increased phase, the phase of the intersection described in next objective time interval is determined.
On the basis of the second newly-increased phase, along with straight trip phase, then it can determine to intersect in next objective time interval Phase included by crossing.
In present embodiment, the step S305 in the step 5 embodiment corresponding with Fig. 3 is similar, may refer to above-mentioned step Rapid S305, details are not described herein.
In second of embodiment, on the basis of the first embodiment, from the dedicated bicycle road of first kind turning, choosing It selects and the one-lane dedicated bicycle road of turning of corresponding first kind mixing is not present, as the dedicated bicycle road (S303) of the second class turning The step of after, this method can also include:
According to the dedicated one-lane lane attribute of the 6th class turning, determine that first deletes phase, wherein the turning of the 6th class is special With bicycle road are as follows: the second class vehicle flowrate in dedicated bicycle road of turning is not more than the dedicated bicycle road of turning of default vehicle flowrate threshold value；
Phase is deleted according to first, determines the phase of the intersection in next objective time interval.
In this embodiment, when the vehicle flowrate during the 6th class turns dedicated bicycle road is not more than default vehicle flowrate threshold value When, then it can determine that the vehicle flowrate that the 6th class is turned in dedicated bicycle road is no especially big, it is not necessary that separate a list again Only turning phase, accordingly, it is determined that first deletes phase.
Wherein it is determined that first deletes the mode of phase, two kinds of situations can be divided into:
The first situation, intersection just do not include before the turning phase, then keep the phase of current intersection at this time Invariant position.For example, the phase of intersection includes thing straight trip and north and south straight trip, it is special to turn left that the 6th class turns dedicated bicycle road With bicycle road, and the dedicated bicycle road of the left-hand rotation is less than default vehicle flowrate threshold value, then keeps the phase invariant of intersection at this time, It still include thing straight trip and north and south straight trip.
Second situation, intersection just includes before the turning phase, then at this point, the turning phase is incorporated into straight trip In phase.For example, the phase of intersection includes thing straight trip, thing turns left, north and south is kept straight on, north and south is turned left, the turning of the 6th class Dedicated bicycle road is dedicated bicycle road of turning left, and the dedicated bicycle road of the left-hand rotation is less than default vehicle flowrate threshold value, then by crossroad Thing left turn phase in mouthful is incorporated into thing straight trip phase, and north and south left turn phase is incorporated into north and south straight trip phase.
In the third embodiment, on the basis of second of embodiment, according to the following formula, the first vehicle flowrate is estimated (after the step of step 3) in the first embodiment, can also include:
According to the dedicated one-lane lane attribute of the 7th class turning, determine that second deletes phase, wherein the turning of the 7th class is special With bicycle road are as follows: the 4th class corresponding the first vehicle flowrate in dedicated bicycle road of turning is not more than the turning of default vehicle flowrate threshold value Dedicated bicycle road；
Phase is deleted according to second, determines the phase of the intersection in next objective time interval.
In this embodiment, when the 7th class turns the first vehicle flowrate corresponding to dedicated bicycle road no more than default wagon flow When measuring threshold value, then it can determine that the 4th class dedicated bicycle road of turning mixes the same turn direction that bicycle road is supported with the first kind On vehicle flowrate without especially big, it is not necessary that an individually turning phase is separated again, accordingly, it is determined that second deletes phase.
Wherein it is determined that second deletes the mode of phase, it is identical that the mode of phase is deleted with above-mentioned first, can be divided into two kinds Situation, details are not described herein.
The technical solution provided through the embodiment of the present invention, can be according to the vehicle of the actual traffic of the intersection counted Flow is reasonably increased and decreased the phase of intersection, determines suitable number of phases, to adapt to currently practical traffic shape Condition, and according further to number of phases, it determines phase sequence, signal period duration, split, determines more reasonable traffic Signal control method, and then it is more advantageous to alleviation traffic pressure.
Based on the corresponding embodiment of above-mentioned Fig. 1 and Fig. 1, the embodiment of the present invention also provides a kind of controlling party of traffic signals Method, as shown in figure 4, this method comprises:
S401 obtains road information, timing reference information and the intersection of the controlled intersection of signal controlling machine Vehicle flowrate of each bicycle road in preceding preset duration.
S402, according to road information, timing reference information and vehicle flowrate obtained, determination is handed in next objective time interval The phase of cross road mouth.
S403 determines the phase sequence of the phase of intersection according to phase precedence information included by timing reference information.
In the present embodiment, the S101 to S103 in step S401 to S403 embodiment corresponding with above-mentioned Fig. 1 is identical, can be with With reference to the relevant portion of above-mentioned S101 to S103, details are not described herein.
S404 obtains the start-up lost time of each phase in intersection.
Start-up lost time may include the loss time that amber light terminates and the loss time that green light starts, wherein in Huang When lamp soon terminates, unsaturated flow rate is already belonged to more than the wagon flow of stop line, the time lost at this time is amber light knot The loss time of beam；And at the beginning of green light, wagon flow is also difficult to saturation flow rate and enters intersection, lose at this time when Between loss time for starting for green light.
Wherein, start-up lost time can be measured by the video vehicle checker of intersection, can also be customized setting , for example, start-up lost time can be set to 3 seconds.Also, the start-up lost time of each phase can be identical.
S405, according to the start-up lost time of each phase, the quantity of the phase of intersection, the amber light duration of each phase and The green light interval duration of each phase, obtains the signal total losses time.
In the present embodiment, the amber light duration of each phase and the green light interval duration of each phase are timing reference information.
Wherein, the amber light duration of each phase can be customized setting, and the amber light duration of each phase can be identical, For example, the amber light duration of each phase can be disposed as 3 seconds.Green light interval duration includes amber light duration and complete red duration, by In amber light duration can customized setting, complete red duration be also can customized setting, therefore, green light interval duration is It can customized setting；For example, amber light duration is set as 3 seconds, complete red duration is set as 2 seconds, and green light interval duration is set as a result, It is set to 5 seconds.
The signal total losses time includes the loss of signal time of each phase, i.e., the sum of the loss of signal time of each phase Constitute the signal total losses time.
S406 obtains the maximum stream flow ratio of each phase according to each one-lane vehicle flowrate, and obtains maximum stream flow than it With.
Wherein, each one-lane vehicle flowrate can be obtained by the video vehicle checker of intersection, also, each bicycle The vehicle flowrate in road is the vehicle flowrate for including a variety of models such as compact car, in-between car, heavy goods vehicles.
For each bicycle road, each one-lane flow-rate ratio is the ratio of the one-lane vehicle flowrate and saturation volume Value.
Maximum stream flow than the sum of specific calculation method, describe in detail in specific embodiment below, herein No longer it is described in detail.
S407 obtains signal period duration according to the sum of signal total losses time, maximum stream flow ratio.
In 4th kind of embodiment, according to the sum of signal total losses time, maximum stream flow ratio, estimates and believe according to following formula Number cycle duration:
Wherein, T is the signal total losses time, and Y is the sum of maximum stream flow ratio, and a, b, c are constant.
A, b, c can be customized setting, for example, based on experience value, it can be 5, c can be 1 that a, which can be 1.5, b,.
Certainly, the calculation method of signal period duration is not limited in method provided in this embodiment, can also be and passes through The methods of ARRB method, HCM method obtain, numerous to list herein.
S408 calculates the corresponding split of identified each phase according to signal period duration.
S409, according to identified phase, phase sequence, signal period duration and the corresponding split of identified each phase, Carry out traffic signalization.
In the present embodiment, the S105 to S106 in step S408 to S409 embodiment corresponding with above-mentioned Fig. 1 is identical, can be with With reference to the relevant portion of above-mentioned S105 to S106, details are not described herein.
In 5th kind of embodiment, according to the start-up lost time of each phase, the quantity of the phase of intersection, each phase Amber light duration and each phase green light interval duration, the step of obtaining the signal total losses time (S405), may include:
According to the start-up lost time of each phase, the quantity of the phase of intersection, the amber light duration of each phase and each phase The green light interval duration of position estimates the signal total losses time according to following formula:
Wherein, n is the quantity of the phase of intersection, TjSFor the start-up lost time of j-th of phase, Tj1For j-th of phase The green light interval duration of position, Tj2For the amber light duration of j-th of phase.
TjS+Tj1-Tj2Obtained is the loss of signal time of j-th of phase, each phase is calculated according to the formula Obtain each phase corresponding loss of signal time.
For example, intersection includes two phases: first phase and second phase.Wherein, first phase and second phase Start-up lost time be 3 seconds, the amber light duration of first phase and second phase is 3 seconds, first phase and second phase Green light interval duration be 5 seconds, then the loss of signal time of first phase is 5 seconds, and loss of signal time of second phase is 5 Second；So, the signal total losses time of the intersection is 10 seconds.
In 6th kind of embodiment, according to each one-lane vehicle flowrate, the maximum stream flow ratio of each phase is obtained, and obtain The step of the sum of maximum stream flow ratio (S406), may include:
A, according to each one-lane vehicle flowrate, each one-lane saturation volume, each one-lane flow-rate ratio is obtained.
B, from the one-lane flow-rate ratio that each phase is included, the maximum stream flow ratio of each phase is obtained.
C, the maximum stream flow of each phase is obtained into the sum of maximum stream flow ratio than summation.
The step in the 6th kind of embodiment is introduced respectively separately below:
A, according to each one-lane vehicle flowrate, each one-lane saturation volume, each one-lane flow-rate ratio is obtained.
Wherein, each one-lane vehicle flowrate can be obtained by video vehicle checker.
Saturation volume refers to that within the time of the green light signals of one-time continuous, the continuous fleet of bicycle road previous column passes through the list The maximum stream flow of lane stop line.Saturation volume is by the geometrical factor of intersection, canalization mode, signal timing dial and each flow direction Depending on situations such as traffic conflict, it can be obtained by way of detection statistics, it can also rule of thumb formula and various warps Value estimation is tested to obtain.
B, from the one-lane flow-rate ratio that each phase is included, the maximum stream flow ratio of each phase is obtained.
According to the available each one-lane flow-rate ratio of above-mentioned steps A, and each phase may include at least one list Lane.When a phase only includes a bicycle road, which is the maximum stream flow ratio of the phase；When one When a phase contains at least two bicycle road, then the corresponding flow-rate ratio of each bicycle road included in the phase is compared respectively Compared with and then obtaining maximum flow-rate ratio, as the maximum stream flow ratio of the phase.
For example, the straight trip phase of intersection includes 4 bicycle roads: bicycle road a, bicycle road b, bicycle road c and bicycle Road d；Also, the flow-rate ratio of bicycle road a is 0.1, and the flow-rate ratio of bicycle road b is 0.2, and the flow-rate ratio of bicycle road c is 0.25, and The flow-rate ratio of bicycle road d is 0.3, it is known that, the flow-rate ratio of bicycle road d is maximum, hence, it can be determined that the max-flow of the straight trip phase Amount is than being 0.3.
C, the maximum stream flow of each phase is obtained into the sum of maximum stream flow ratio than summation.
In 7th kind of embodiment, the sum of maximum stream flow ratio is obtained according to following formula:
Wherein, Aj0For the maximum stream flow ratio of j-th of phase, n is the quantity of the phase of intersection.
For example, intersection includes 4 phases: thing straight trip, thing are turned left, north and south straight trip and north and south are turned left, also, east The maximum stream flow ratio of the phase of west straight trip is 0.15, and the maximum stream flow ratio for the phase that thing turns left is 0.1, the phase of north and south straight trip Maximum stream flow ratio be 0.2, north and south turn left phase maximum stream flow ratio be 0.25.So, obtained according to above-mentioned formula The sum of maximum stream flow ratio Y is 0.7.
In 8th kind of embodiment, on the basis of above-mentioned 6th kind of embodiment, according to each one-lane vehicle flowrate, Each one-lane saturation volume the step of obtaining each one-lane flow-rate ratio (A), may include:
A, according to the preset base saturation flow table of comparisons, each one-lane base saturation flow is determined.
Wherein, the corresponding relationship of the base saturation flow table of comparisons record lane attribute and base saturation flow, is substantially saturated The unit of flow is pcu/h.For example, it is as shown in table 1 below, be a kind of base saturation flow table of comparisons:
Table 1
Bicycle road One-lane base saturation flow Sbi
Straight trip bicycle road 1650
Left-hand rotation bicycle road 1550
Right-hand rotation bicycle road 1550
Left straight bicycle road 1450
Right straight bicycle road 1500
Left straight right bicycle road 1450
Left and right bicycle road 1500
For example, according to upper table 1, which is 1550 if bicycle road is left-hand rotation bicycle road；If Bicycle road is left straight bicycle road, then the one-lane base saturation flow is 1450 at this time.
B, according to each one-lane lane width, the lane width correction system in each lane is obtained according to following formula Number:
Wherein, W is lane width, and d, e, h, k, m, n, u, s are constant.
Lane width is set according to developed width one-lane in intersection, under normal circumstances, d, e, h, k, m, N, u, s can rule of thumb customized setting, for example, one-lane width cannot less than 2.7 meters, therefore, s can be 2.7, d It can be 3.0, e can be 3.5.It can be 0.4, h can be 0.5, m can be 0.05, n 16.5 that u, which can be 1, k,.
For example, the one-lane lane width of intersection is 3.0 meters, then according to above formula, the one-lane lane width Correction coefficient fwAre as follows: 0.4 × (3.0-0.5)=1.
C, the ratio shared by the quantity of heavy goods vehicles in preset duration is obtained in each bicycle road, and according to ratio, each The one-lane lane gradient obtains each one-lane gradient and cart correction coefficient according to following formula:
fg=1- (G+HV)
Wherein, G be each lane gradient, HV be each bicycle road in preset duration ratio shared by the quantity of heavy goods vehicles Example.
The one-lane lane gradient are as follows: one-lane center line of road point-to-point transmission height and horizontal distance ratio.Work as bicycle road When for descending, then the lane gradient is 0.
The lane gradient can be customized setting, and in each bicycle road in preset duration shared by the quantity of heavy goods vehicles Ratio can be it is obtained by the video vehicle checker of intersection.
Video vehicle checker obtain heavy goods vehicles quantity proportion when, preset duration can customized setting, example Such as, it can be one week, or the longer time.
D, it according to each one-lane lane width correction coefficient, the gradient and cart correction coefficient, is obtained according to following formula To each one-lane correction coefficient:
f(Fi)=fw×fg。
E, it according to each one-lane correction coefficient, each one-lane base saturation flow, is obtained according to following formula Each one-lane saturation volume:
Sd=Sbi×f(Fi)
Wherein, SbiFor each one-lane base saturation flow.
F, according to each one-lane vehicle flowrate, each one-lane saturation volume, each list is obtained according to following formula The flow-rate ratio in lane:
Wherein, q is each one-lane vehicle flowrate.
The technical solution provided through the embodiment of the present invention, can be according to the vehicle of the actual traffic of the intersection counted Flow, road information, timing reference information and determined phase quantity more accurately estimated by accurate evaluation method The optimal signal period duration in intersection is calculated, and determines more reasonable traffic signal control method, and then be more advantageous to Alleviate traffic pressure.
Based on the corresponding embodiment of above-mentioned Fig. 4 and Fig. 4, the embodiment of the present invention also provides a kind of controlling party of traffic signals Method, as shown in figure 5, this method comprises:
S501 obtains road information, timing reference information and the intersection of the controlled intersection of signal controlling machine Vehicle flowrate of each bicycle road in preceding preset duration.
S502, according to road information, timing reference information and vehicle flowrate obtained, determination is handed in next objective time interval The phase of cross road mouth.
S503 determines the phase sequence of the phase of intersection according to phase precedence information included by timing reference information.
S504, according to road information, timing reference information, the quantity of determined phase and vehicle flowrate obtained, really Determine signal period duration of the intersection in next objective time interval.
In the present embodiment, the S101 to S104 in step S501 to S504 embodiment corresponding with above-mentioned Fig. 1 is identical, can be with With reference to the relevant portion of above-mentioned S101 to S104, details are not described herein.
S505 obtains the corresponding Effective Green Time of signal period duration according to signal period duration and signal total losses time Duration.
Signal period duration can be obtained according to the method in the corresponding embodiment of Fig. 4, certainly, can also also pass through other Method obtain, be not limited thereto.
It can be used in the period current with saturation flow rate when Effective Green Time in an a length of signal period duration.
In 9th kind of embodiment, according to signal period duration and signal total losses time, letter is obtained according to following formula Number corresponding Effective Green Time duration of cycle duration:
Ge=C0-T
Wherein, C0For signal period duration, T is the signal total losses time.
S506 obtains the Effective Green Time of each phase according to the corresponding Effective Green Time duration of obtained signal period duration Duration.
In tenth kind of embodiment, according to the corresponding Effective Green Time duration of the obtained signal period duration, according to Following formula obtains the Effective Green Time duration of each phase:
Wherein, TjeFor the Effective Green Time duration of j-th of phase, GeIt is corresponding effectively green for obtained signal period duration Lamp duration, Aj0For the maximum stream flow ratio of j-th of phase, Y is the sum of maximum stream flow ratio.
Wherein, the maximum stream flow of each phase than with maximum stream flow than the sum of can be according in above-mentioned 6th kind of embodiment Method obtains, it is, of course, also possible to obtain the sum of maximum stream flow ratio and the maximum stream flow ratio of each phase by other methods, herein not It limits.
S507, according to the Effective Green Time duration of each phase, the corresponding Effective Green Time duration of signal period duration, obtain really The split of fixed each phase.
It is corresponding effectively green according to the Effective Green Time duration of each phase, signal period duration in a kind of tenth embodiment Lamp duration obtains the split of identified each phase according to following formula:
Wherein, λjFor the split of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, C0When for the signal period It is long.
S508, according to identified phase, phase sequence, signal period duration and the corresponding split of identified each phase, Carry out traffic signalization.
In the present embodiment, the S106 in step S508 embodiment corresponding with above-mentioned Fig. 1 is identical, can refer to above-mentioned S106 Relevant portion, details are not described herein.
It is corresponding effectively green according to the Effective Green Time duration of each phase, signal period duration in 12nd kind of embodiment Lamp duration, obtain determined by each phase split (S507) the step of after, can also include:
One, pedestrian's street crossing duration is estimated according to following formula:
Wherein, LPFor pedestrian's street crossing length, VPFor pedestrian's street crossing leg speed, Tj1For the green light interval duration of j-th of phase, In, v is constant.
Two, the long green light time of each phase is estimated according to following formula, and as estimation long green light time:
Tj3=Tje-Tj2+TjS
Wherein, Tj3For the estimation long green light time of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, Tj2For jth The amber light duration of a phase, TjSFor the start-up lost time of j-th of phase.
Three, judge whether the estimation long green light time of target phase is greater than pedestrian's street crossing duration, wherein target phase is to intersect Any phase in the phase at crossing.
If four, the estimation long green light time of target phase is greater than pedestrian's street crossing duration, the long green light time of target phase is determined To estimate long green light time.
If five, the estimation long green light time of target phase is not more than pedestrian's street crossing duration, when determining the green light of target phase A length of pedestrian's street crossing duration.
Each step of the 12nd kind of embodiment is described in detail separately below:
For step 1, v be can customized setting constant, for example, v can be 7.Pedestrian's street crossing length and pedestrian's mistake Street leg speed is timing reference information, and can be customized is setting.
For step 2, according to the estimation long green light time for each phase that formula is calculated, it is believed that be each phase The practical long green light time of position, the i.e. practical long green light time to display of signal lamp.
For Step 3: step 4 and step 5 have fully considered pedestrian's street crossing to traffic signals in the present embodiment The influence of lamp, in order to guarantee pedestrian's street crossing have plenty of time and safety, therefore, to assure that long green light time be greater than pedestrian's street crossing when It is long.
The estimation long green light time of each phase is compared with pedestrian's street crossing duration respectively, when the estimation of a certain phase is green When lamp duration is not more than pedestrian's street crossing duration, then the long green light time of the phase is set as pedestrian's street crossing duration.Therefore, can recognize The most short long green light time of a length of phase when pedestrian's street crossing corresponding for, each phase.
The technical solution provided through the embodiment of the present invention can obtain the green letter of each phase according to signal period duration Than, and then can determine the long green light time of each phase.Also, pedestrian's street crossing duration has been fully considered in the program, so that The most short long green light time of each phase is pedestrian's street crossing duration, fully ensures that the abundant of pedestrians crossing time, and then ensure pedestrian The safety of street crossing.By considering influence of the pedestrian's street crossing to traffic signalization, in this way, obtained traffic signalization side Method is more reasonable, more humane.
Corresponding to the corresponding embodiment of Fig. 1 and Fig. 1, the embodiment of the present invention also provides a kind of control device of traffic signals, As shown in fig. 6, the device is applied to signal controlling machine, comprising:
Module 610 is obtained, for obtaining road information, the timing benchmark letter of the controlled intersection of the signal controlling machine The vehicle flowrate of breath and each bicycle road in the intersection in preceding preset duration；
First determining module 620, for according to the road information, the timing reference information and wagon flow obtained Amount determines the phase of the intersection described in next objective time interval；
Second determining module 630 determines institute for the phase precedence information according to included by the timing reference information State the phase sequence of the phase of intersection；
Third determining module 640, for according to the road information, the timing reference information, determined phase number Amount and vehicle flowrate obtained, determine signal period duration of the intersection in next objective time interval；
Computing module 650, for calculating the corresponding split of identified each phase according to the signal period duration；
Traffic signalization module 660, for according to identified phase, the phase sequence, the signal period duration and The corresponding split of identified each phase, carries out traffic signalization.
The technical solution provided through the embodiment of the present invention, according to counted for the previous period in vehicle flowrate, for Different periods determine corresponding phase, phase sequence, signal period duration and split, and then can determine different periods The control method of traffic signals, the traffic signal control method determined in this way are based on the reality in the nearly a period of time of intersection Border traffic condition has certain real-time, and is that dynamic adjusts, and then is more advantageous to alleviation traffic pressure.
Corresponding to the corresponding embodiment of Fig. 3 and Fig. 3, the embodiment of the present invention also provides a kind of control device of traffic signals, As shown in Figure 7, wherein road information includes: each one-lane lane attribute in intersection；
First determining module 620 includes:
First determines submodule 621, for determining the intersection bicycle road according to each one-lane lane attribute In the dedicated bicycle road of turning, turn dedicated bicycle road as the first kind；
First choice submodule 622, for turning in dedicated bicycle road from the first kind, there is no corresponding for selection The one-lane dedicated bicycle road of turning of one kind mixing, as the dedicated bicycle road of the second class turning, wherein a dedicated bicycle of turning The corresponding first kind in road mixes bicycle road are as follows: the turn direction phase for belonging to same phase with the dedicated bicycle road of the turning and supporting Same bicycle road；
Second determines submodule 623, for determining that first is newly-increased according to the dedicated one-lane lane attribute of third class turning Phase, wherein the dedicated bicycle road of the third class turning are as follows: vehicle flowrate is greater than default in the dedicated bicycle road of the second class turning The dedicated bicycle road of the turning of vehicle flowrate threshold value；
Third determines submodule 624, for determining the friendship described in next objective time interval according to the described first newly-increased phase The phase of cross road mouth.
The technical solution provided through the embodiment of the present invention, can be according to the vehicle of the actual traffic of the intersection counted Flow is reasonably increased and decreased the phase of intersection, determines suitable number of phases, to adapt to currently practical traffic shape Condition, and according further to number of phases, determine phase sequence, signal period duration, split, and then determine more reasonably Traffic signal control method.
Optionally, in a kind of embodiment, the first determining module 620 can also include:
Second selection submodule, for from the dedicated bicycle road of first kind turning, there are the corresponding first kind for selection One-lane turning dedicated Lanes are mixed, as the dedicated bicycle road of the 4th class turning；
First acquisition submodule mixes one-lane turning ratio for obtaining each first kind；
First estimation submodule estimates the first vehicle flowrate for according to the following formula, wherein first vehicle flowrate is 4th class dedicated bicycle road of turning mixes vehicle flowrate in the same turn direction that bicycle road is supported with the first kind:
Wherein, L1For the dedicated one-lane vehicle flowrate of the 4th class turning, L2It is mixed in bicycle road for the first kind Vehicle flowrate,One-lane turning ratio is mixed for the first kind；
4th determines submodule, for determining the second newly-increased phase according to the dedicated one-lane lane attribute of the 5th class turning Position, wherein the 5th class is turned dedicated bicycle road are as follows: the 4th class is turned corresponding the first wagon flow in dedicated bicycle road Amount is greater than the dedicated bicycle road of turning of the default vehicle flowrate threshold value；
5th determines submodule, for determining the intersection described in next objective time interval according to the described second newly-increased phase The phase at crossing.
Optionally, in a kind of embodiment, the first determining module 620 can also include:
6th determines submodule, for determining that first deletes phase according to the dedicated one-lane lane attribute of the 6th class turning Position, wherein the dedicated bicycle road of the 6th class turning are as follows: vehicle flowrate is no more than described in the dedicated bicycle road of the second class turning The dedicated bicycle road of turning of default vehicle flowrate threshold value；
7th determines submodule, for deleting phase according to described first, determines the intersection described in next objective time interval The phase at crossing.
Optionally, in a kind of embodiment, the first determining module 620 can also include:
8th determines submodule, for determining that second deletes phase according to the dedicated one-lane lane attribute of the 7th class turning Position, wherein the 7th class is turned dedicated bicycle road are as follows: the 4th class is turned corresponding the first wagon flow in dedicated bicycle road Amount is not more than the dedicated bicycle road of turning of the default vehicle flowrate threshold value；
9th determines submodule, for deleting phase according to described second, determines the intersection described in next objective time interval The phase at crossing.
The technical solution provided through the embodiment of the present invention, can be according to the vehicle of the actual traffic of the intersection counted Flow is reasonably increased and decreased the phase of intersection, determines suitable number of phases, to adapt to currently practical traffic shape Condition, and according further to number of phases, it determines phase sequence, signal period duration, split, determines more reasonable traffic Signal control method, and then it is more advantageous to alleviation traffic pressure.
Corresponding to the corresponding embodiment of Fig. 4 and Fig. 4, the embodiment of the present invention also provides a kind of control device of traffic signals, As shown in Figure 8, wherein timing reference information includes: the green light of the amber light duration of each phase in intersection, each phase in intersection It is spaced duration；
Third determining module 640 may include:
Second acquisition submodule 641, for obtaining the start-up lost time of each phase in the intersection；
First obtains submodule 642, for the number according to the start-up lost time of each phase, the phase of the intersection Amount, the green light interval duration of the amber light duration of each phase and each phase, obtain the signal total losses time；
Second obtains submodule 643, for obtaining the maximum stream flow ratio of each phase according to each one-lane vehicle flowrate, The sum of and obtain maximum stream flow ratio；
Third obtains submodule 644, for obtaining according to the sum of the signal total losses time, maximum stream flow ratio The signal period duration.
The technical solution provided through the embodiment of the present invention, can be according to the vehicle of the actual traffic of the intersection counted Flow, road information, timing reference information and determined phase quantity more accurately estimated by accurate evaluation method The optimal signal period duration in intersection is calculated, and then determines more reasonable traffic signal control method.
Optionally, in a kind of embodiment, first, which obtains submodule 642, may include:
First evaluation unit, for according to the quantity of the start-up lost time of each phase, the phase of the intersection, each The amber light duration of phase and the green light interval duration of each phase estimate the signal total losses time according to following formula:
Wherein, n is the quantity of the phase of the intersection, TjSFor the start-up lost time of j-th of phase, Tj1For jth The green light interval duration of a phase, Tj2For the amber light duration of j-th of phase.
Optionally, in a kind of embodiment, second, which obtains submodule 643, may include:
First obtains unit, for obtaining each according to each one-lane vehicle flowrate, each one-lane saturation volume One-lane flow-rate ratio；
Obtaining unit, for obtaining the max-flow of each phase from the one-lane flow-rate ratio that each phase is included Amount ratio；
Second obtains unit, for the maximum stream flow of each phase than summation, to be obtained the sum of described maximum stream flow ratio.
Optionally, in a kind of embodiment, third obtains submodule 644 and may include:
Second evaluation unit is used for according to the sum of the signal total losses time, maximum stream flow ratio, according to following public affairs Formula estimates the signal period duration:
Wherein, T is the signal total losses time, and Y is the sum of maximum stream flow ratio, and a, b, c are constant.
Optionally, in a kind of embodiment, road information can also include: each one-lane lane width and lane slope Degree；
First, which obtains unit, may include:
Subelement is determined, for according to the preset base saturation flow table of comparisons, determining each one-lane be substantially saturated Flow, wherein the corresponding relationship of the base saturation flow table of comparisons record lane attribute and base saturation flow；
First obtains subelement, for obtaining each lane according to following formula according to each one-lane lane width Lane width correction coefficient:
Wherein, W is the lane width, and d, e, h, k, m, n, u, s are constant；
Second obtains subelement, for obtaining in each bicycle road in the preset duration shared by the quantity of heavy goods vehicles Ratio, and according to the ratio, each one-lane lane gradient obtains each one-lane gradient and big according to following formula Vehicle correction coefficient:
fg=1- (G+HV)
Wherein, G is each lane gradient, and HV is the ratio；
Third obtains subelement, is for being corrected according to each one-lane lane width correction coefficient, the gradient and cart Number, obtains each one-lane correction coefficient according to following formula:
f(Fi)=fw×fg；
4th obtains subelement, is used for according to each one-lane correction coefficient, each one-lane base saturation flow, Each one-lane saturation volume is obtained according to following formula:
Sd=Sbi×f(Fi)
Wherein, SbiFor each one-lane base saturation flow；
5th obtains subelement, for according to each one-lane vehicle flowrate, each one-lane saturation volume, according to Lower formula obtains each one-lane flow-rate ratio:
Wherein, q is each one-lane vehicle flowrate.
Optionally, in a kind of embodiment, second, which obtains unit, may include:
6th obtains subelement, for obtaining the sum of described maximum stream flow ratio according to following formula:
Wherein, Aj0For the maximum stream flow ratio of j-th of phase, n is the quantity of the phase of the intersection.
The technical solution provided through the embodiment of the present invention, can be according to the vehicle of the actual traffic of the intersection counted Flow, road information, timing reference information and determined phase quantity more accurately estimated by accurate evaluation method The optimal signal period duration in intersection is calculated, determines more reasonable traffic signal control method, and then be more advantageous to slow Solve traffic pressure.
Corresponding to the corresponding embodiment of Fig. 5 and Fig. 5, the embodiment of the present invention also provides a kind of control device of traffic signals, As shown in figure 9, computing module 650 may include:
4th obtains submodule 651, for obtaining institute according to the signal period duration and the signal total losses time State the corresponding Effective Green Time duration of signal period duration；
Third obtains submodule 652, for according to the corresponding Effective Green Time duration of the obtained signal period duration, Obtain the Effective Green Time duration of each phase；
5th obtains submodule 653, for corresponding according to Effective Green Time duration, the signal period duration of each phase Effective Green Time duration obtains the split of identified each phase.
The technical solution provided through the embodiment of the present invention can obtain the green letter of each phase according to signal period duration Than, and then can determine the long green light time of each phase.Also, pedestrian's street crossing duration has been fully considered in the program, so that The most short long green light time of each phase is pedestrian's street crossing duration, fully ensures that the abundant of pedestrians crossing time, and then ensure pedestrian The safety of street crossing.By considering influence of the pedestrian's street crossing to traffic signalization, in this way, obtained traffic signalization side Method is more reasonable, more humane.
Optionally, in a kind of embodiment, the 4th, which obtains submodule 651, may include:
Third obtains unit, is used for according to the signal period duration and the signal total losses time, according to following public affairs Formula obtains the corresponding Effective Green Time duration of the signal period duration:
Ge=C0-T
Wherein, C0For the signal period duration, T is the signal total losses time.
Optionally, in a kind of embodiment, third obtains submodule 652 and may include:
4th obtains unit, for according to the corresponding Effective Green Time duration of the obtained signal period duration, according to Following formula obtains the Effective Green Time duration of each phase:
Wherein, TjeFor the Effective Green Time duration of j-th of phase, GeIt is corresponding effectively green for obtained signal period duration Lamp duration, Aj0For the maximum stream flow ratio of j-th of phase, Y is the sum of maximum stream flow ratio.
Optionally, in a kind of embodiment, the 5th, which obtains submodule 653, may include:
5th obtains unit, corresponding effectively for Effective Green Time duration, the signal period duration according to each phase Long green light time obtains the split of identified each phase according to following formula:
Wherein, λjFor the split of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, C0For the signal week Phase duration.
Optionally, in a kind of embodiment, timing reference information can also include: pedestrian's street crossing length, pedestrian's street crossing step Speed；
Computing module 650 can also include:
Second estimation submodule, for estimating pedestrian's street crossing duration according to following formula:
Wherein, tjFor the corresponding pedestrian's street crossing duration of j-th of phase, LPFor the pedestrian's street crossing length, VPFor the pedestrian Cross the street leg speed, Tj1For the green light interval duration of j-th of phase, wherein v is constant；
Third estimates submodule, for estimating the long green light time of each phase according to following formula, and as estimation green light Duration:
Tj3=Tje-Tj2+TjS
Wherein, Tj3For the estimation long green light time of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, Tj2For jth The amber light duration of a phase, TjSFor the start-up lost time of j-th of phase；
Judging submodule, for judging whether the estimation long green light time of target phase is greater than the pedestrian's street crossing duration, In, the target phase is any phase in the phase of the intersection；
First decision sub-module, the judging result for the judging submodule are when being, to determine the target phase Long green light time is estimation long green light time；
Second decision sub-module determines the target phase when judging result for the judging submodule is no Long green light time is the pedestrian's street crossing duration.
The technical solution provided through the embodiment of the present invention can obtain the green letter of each phase according to signal period duration Than, and then can determine the long green light time of each phase.Also, pedestrian's street crossing duration has been fully considered in the program, so that The most short long green light time of each phase is pedestrian's street crossing duration, fully ensures that the abundant of pedestrians crossing time, and then ensure pedestrian The safety of street crossing.By considering influence of the pedestrian's street crossing to traffic signalization, in this way, obtained traffic signalization side Method is more reasonable, more humane.
The embodiment of the invention also provides a kind of electronic equipment, as shown in Figure 10, including processor 110, communication interface 120, memory 130 and communication bus 140, wherein processor 110, communication interface 120, memory 130 pass through communication bus 140 complete mutual communication；
Memory 130, for storing computer program；
Processor 110 when for executing the program stored on memory 130, realizes following steps:
Obtain road information, each list of timing reference information and intersection of the controlled intersection of signal controlling machine Vehicle flowrate of the lane in preceding preset duration；
According to road information, timing reference information and vehicle flowrate obtained, the crossroad in next objective time interval is determined The phase of mouth；
According to phase precedence information included by timing reference information, the phase sequence of the phase of intersection is determined；
According to road information, timing reference information, the quantity of determined phase and vehicle flowrate obtained, determines and intersect Signal period duration of the crossing in next objective time interval；
According to signal period duration, the corresponding split of identified each phase is calculated；
According to identified phase, phase sequence, signal period duration and the corresponding split of identified each phase, handed over Messenger control.
The technical solution provided through the embodiment of the present invention, according to counted for the previous period in vehicle flowrate, for Different periods determine corresponding phase, phase sequence, signal period duration and split, and then can determine different periods The control method of traffic signals, the traffic signal control method determined in this way are based on the reality in the nearly a period of time of intersection Border traffic condition has certain real-time, and is that dynamic adjusts, and then is more advantageous to alleviation traffic pressure.
Certainly, a kind of electronic equipment provided in an embodiment of the present invention can also be performed any described one in above-described embodiment The control method of kind traffic signals.It is specifically shown in embodiment corresponding to Fig. 1, Fig. 3, Fig. 4 and Fig. 5, which is not described herein again.
In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can Read to be stored with instruction in storage medium, when run on a computer so that computer execution above-mentioned Fig. 1, Fig. 3, Fig. 4 and The control method of any a kind of traffic signals in embodiment corresponding to Fig. 5.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, RAM), also may include non-easy The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete Door or transistor logic, discrete hardware components.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality For applying example, electronic equipment and computer readable storage medium, since it is substantially similar to the method embodiment, so description Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims (15)

1. a kind of control method of traffic signals, which is characterized in that be applied to signal controlling machine, which comprises
The road information, timing reference information and the intersection for obtaining the controlled intersection of the signal controlling machine are every Vehicle flowrate of one bicycle road in preceding preset duration, wherein the road information is one-lane included by the intersection Parameter information, the timing reference information are the parameter information that the traffic signals are carried out with timing；
According to the road information, the timing reference information and vehicle flowrate obtained, the institute in next objective time interval is determined State the phase of intersection；
According to phase precedence information included by the timing reference information, the phase sequence of the phase of the intersection is determined；
According to the road information, the timing reference information, the quantity of determined phase and vehicle flowrate obtained, determine Signal period duration of the intersection in next objective time interval；
According to the signal period duration, the corresponding split of identified each phase is calculated；
According to identified phase, the phase sequence, the signal period duration and the corresponding split of identified each phase, into Row traffic signalization.
2. the method according to claim 1, wherein the road information includes: each list in the intersection The lane attribute in lane；
It is described according to the road information, the timing reference information and vehicle flowrate obtained, determine in next objective time interval The step of phase of the interior intersection, comprising:
According to each one-lane lane attribute, the dedicated bicycle road of turning in the intersection bicycle road is determined, as The dedicated bicycle road of one kind turning；
From the dedicated bicycle road of first kind turning, there is no the one-lane dedicated lists of turning of corresponding first kind mixing for selection Lane, as the dedicated bicycle road of the second class turning, wherein the corresponding first kind of a dedicated bicycle road of turning mixes bicycle road Are as follows: the identical bicycle road of turn direction for belonging to same phase with the dedicated bicycle road of the turning and supporting；
According to the dedicated one-lane lane attribute of third class turning, the first newly-increased phase is determined, wherein the third class turning is special With bicycle road are as follows: second class vehicle flowrate in dedicated bicycle road of turning is greater than the dedicated bicycle of turning of default vehicle flowrate threshold value Road；
According to the described first newly-increased phase, the phase of the intersection described in next objective time interval is determined.
3. according to the method described in claim 2, determining institute it is characterized in that, described according to each one-lane lane attribute State the dedicated bicycle road of turning in the bicycle road of intersection, as the first kind turn dedicated Lanes the step of after, further includes:
From the dedicated bicycle road of first kind turning, there are the corresponding first kind to mix one-lane turning special-purpose vehicle for selection Road, as the dedicated bicycle road of the 4th class turning；
It obtains each first kind and mixes one-lane turning ratio；
According to the following formula, the first vehicle flowrate is estimated, wherein first vehicle flowrate is the dedicated bicycle road of the 4th class turning The vehicle flowrate in the same turn direction that bicycle road is supported is mixed with the first kind:
Wherein, L1For the dedicated one-lane vehicle flowrate of the 4th class turning, L2The wagon flow in bicycle road is mixed for the first kind Amount,One-lane turning ratio is mixed for the first kind；
According to the dedicated one-lane lane attribute of the 5th class turning, the second newly-increased phase is determined, wherein the 5th class turning is special With bicycle road are as follows: the 4th class corresponding the first vehicle flowrate in dedicated bicycle road of turning is greater than the default vehicle flowrate threshold value The dedicated bicycle road of turning；
According to the described second newly-increased phase, the phase of the intersection described in next objective time interval is determined.
4. the method according to claim 1, wherein the timing reference information includes: that the intersection is each Amber light duration, the green light interval duration of each phase in the intersection of phase；
The step of signal period duration of the determination intersection in next objective time interval, comprising:
Obtain the start-up lost time of each phase in the intersection；
According to the start-up lost time of each phase, the quantity of the phase of the intersection, the amber light duration of each phase and each phase The green light interval duration of position, obtains the signal total losses time；
The sum of according to each one-lane vehicle flowrate, obtain the maximum stream flow ratio of each phase, and obtain maximum stream flow ratio；
According to the sum of the signal total losses time, maximum stream flow ratio, the signal period duration is obtained.
5. according to the method described in claim 4, it is characterized in that, the start-up lost time according to each phase, the friendship The green light interval duration of the quantity of the phase of cross road mouth, the amber light duration of each phase and each phase, obtains the signal total losses time The step of, comprising:
According to the start-up lost time of each phase, the quantity of the phase of the intersection, the amber light duration of each phase and each phase The green light interval duration of position estimates the signal total losses time according to following formula:
Wherein, n is the quantity of the phase of the intersection, TjSFor the start-up lost time of j-th of phase, Tj1For j-th of phase The green light interval duration of position, Tj2For the amber light duration of j-th of phase.
6. according to the method described in claim 4, obtaining each phase it is characterized in that, described according to each one-lane vehicle flowrate Position maximum stream flow ratio, and obtain maximum stream flow than the sum of the step of, comprising:
According to each one-lane vehicle flowrate, each one-lane saturation volume, each one-lane flow-rate ratio is obtained；
From the one-lane flow-rate ratio that each phase is included, the maximum stream flow ratio of each phase is obtained；
By the maximum stream flow of each phase than summation, the sum of described maximum stream flow ratio is obtained.
7. according to the method described in claim 4, it is characterized in that, described according to the signal total losses time, the maximum The sum of flow-rate ratio, the step of obtaining the signal period duration, comprising:
According to the sum of the signal total losses time, maximum stream flow ratio, when estimating the signal period according to following formula It is long:
Wherein, T is the signal total losses time, and Y is the sum of maximum stream flow ratio, and a, b, c are constant.
8. according to the method described in claim 6, it is characterized in that, the road information further include: each one-lane lane Width and the lane gradient；
It is described according to each one-lane vehicle flowrate, each one-lane saturation volume, obtain each one-lane flow-rate ratio Step, comprising:
According to the preset base saturation flow table of comparisons, each one-lane base saturation flow is determined, wherein described substantially full With the corresponding relationship of the flow table of comparisons record lane attribute and base saturation flow；
According to each one-lane lane width, the lane width correction coefficient in each lane is obtained according to following formula:
Wherein, W is the lane width, and d, e, h, k, m, n, u, s are constant；
Obtain in each bicycle road the ratio shared by the quantity of heavy goods vehicles in the preset duration, and according to the ratio, every The one one-lane lane gradient obtains each one-lane gradient and cart correction coefficient according to following formula:
fg=1- (G+HV)
Wherein, G is each lane gradient, and HV is the ratio；
According to each one-lane lane width correction coefficient, the gradient and cart correction coefficient, obtained according to following formula each One-lane correction coefficient:
f(Fi)=fw×fg；
According to each one-lane correction coefficient, each one-lane base saturation flow, each list is obtained according to following formula The saturation volume in lane:
Sd=Sbi×f(Fi)
Wherein, SbiFor each one-lane base saturation flow；
According to each one-lane vehicle flowrate, each one-lane saturation volume, obtained according to following formula each one-lane Flow-rate ratio:
Wherein, q is each one-lane vehicle flowrate.
9. according to the method described in claim 4, calculating determines it is characterized in that, described according to the signal period duration Each phase corresponding split the step of, comprising:
According to the signal period duration and the signal total losses time, it is corresponding effectively green to obtain the signal period duration Lamp duration；
According to the corresponding Effective Green Time duration of the obtained signal period duration, the Effective Green Time duration of each phase is obtained；
According to the Effective Green Time duration of each phase, the corresponding Effective Green Time duration of the signal period duration, obtain identified The split of each phase.
10. according to the method described in claim 9, it is characterized in that, described according to the obtained signal period duration pair The Effective Green Time duration answered, the step of obtaining the Effective Green Time duration of each phase, comprising:
According to the corresponding Effective Green Time duration of the obtained signal period duration, having for each phase is obtained according to following formula Imitate long green light time:
Wherein, TjeFor the Effective Green Time duration of j-th of phase, GeWhen Effective Green Time corresponding for obtained signal period duration It is long, Aj0For the maximum stream flow ratio of j-th of phase, Y is the sum of maximum stream flow ratio.
11. according to the method described in claim 9, it is characterized in that, the Effective Green Time duration according to each phase, the letter Number corresponding Effective Green Time duration of cycle duration, obtain determined by each phase split the step of, comprising:
According to the Effective Green Time duration of each phase, the corresponding Effective Green Time duration of the signal period duration, according to following formula The split of each phase determined by obtaining:
Wherein, λjFor the split of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, C0When for the signal period It is long.
12. according to the method described in claim 9, it is characterized in that, the timing reference information further include: pedestrian's street crossing is long Degree, pedestrian's street crossing leg speed；
The Effective Green Time duration according to each phase, the corresponding Effective Green Time duration of the signal period duration, obtain really After the step of split of fixed each phase, further includes:
Pedestrian's street crossing duration is estimated according to following formula:
Wherein, tjFor the corresponding pedestrian's street crossing duration of j-th of phase, LPFor the pedestrian's street crossing length, VPFor the pedestrian's street crossing Leg speed, Tj1For the green light interval duration of j-th of phase, wherein v is constant；
The long green light time of each phase is estimated according to following formula, and as estimation long green light time:
Tj3=Tje-Tj2+TjS
Wherein, Tj3For the estimation long green light time of j-th of phase, TjeFor the Effective Green Time duration of j-th of phase, Tj2For j-th of phase The amber light duration of position, TjSFor the start-up lost time of j-th of phase；
Judge whether the estimation long green light time of target phase is greater than the pedestrian's street crossing duration, wherein the target phase is institute State any phase in the phase of intersection；
If the estimation long green light time of the target phase is greater than the pedestrian's street crossing duration, the green light of the target phase is determined Shi Changwei estimates long green light time；
If the estimation long green light time of the target phase is not more than the pedestrian's street crossing duration, the green of the target phase is determined A length of pedestrian's street crossing duration when lamp.
13. a kind of control device of traffic signals, which is characterized in that be applied to signal controlling machine, described device includes:
Obtain module, for obtain the road information of the controlled intersection of the signal controlling machine, timing reference information and Vehicle flowrate of each bicycle road in intersection in preceding preset duration, wherein the road information is the intersection Included one-lane parameter information, the timing reference information are the parameter information that the traffic signals are carried out with timing；
First determining module, for determining according to the road information, the timing reference information and vehicle flowrate obtained The phase of the intersection in next objective time interval；
Second determining module determines the intersection for the phase precedence information according to included by the timing reference information The phase sequence of the phase at crossing；
Third determining module, for according to the road information, the timing reference information, the quantity of determined phase and institute The vehicle flowrate of acquisition determines signal period duration of the intersection in next objective time interval；
Computing module, for calculating the corresponding split of identified each phase according to the signal period duration；
Traffic signalization module, for according to identified phase, the phase sequence, the signal period duration and identified The corresponding split of each phase, carries out traffic signalization.
14. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing Device, communication interface, memory complete mutual communication by communication bus；
Memory, for storing computer program；
Processor when for executing the program stored on memory, realizes any method and step of claim 1-12.
15. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium Program realizes claim 1-12 any method and step when the computer program is executed by processor.
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