CN110444020B - Associated intersection control method, device and system and storage medium - Google Patents
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Abstract
The invention discloses a method, a device, a system and a storage medium for controlling a relevant intersection, wherein the method comprises the following steps: acquiring a first threshold detection result of a threshold detector, wherein the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection; determining a corresponding control strategy according to a first threshold detection result; and performing coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy. According to the embodiment of the invention, the first threshold detection result is determined through the threshold detector, the corresponding control strategy is determined according to the first threshold detection result, and the coordination control is carried out on the associated intersection of the target downstream intersection according to the control strategy, so that the coordination optimization control on the upstream intersection and the downstream intersection of the associated intersection is realized, and the traffic overflow phenomenon is effectively avoided.
Description
Technical Field
The embodiment of the invention relates to intersection control technology, in particular to a method, a device, a system and a storage medium for controlling an associated intersection.
Background
With the improvement of living standard, the number of private cars is still kept increasing at a higher level. The traffic problems such as traffic jam, traffic accident and environmental pollution are getting more serious.
Among numerous traffic problems, traffic jam is often the source of other problems, traffic overflow is a special traffic jam phenomenon, which is formed by overlong vehicle queuing length at a downstream intersection and occupying an upstream intersection, and if the jam caused by the traffic overflow is not evacuated in time, the jam can be rapidly diffused to adjacent related intersections, so that large-area traffic jam is caused, and the traffic condition of an urban road network is greatly influenced. In addition, the traffic overflow phenomenon does not only occur in the first-line city, but the traffic overflow phenomenon has a great trend of expanding towards the second-line city and the third-line city. Therefore, how to prevent overflow of the related intersections is an urgent problem to be solved.
Disclosure of Invention
In view of this, the invention provides a method, a device, a system and a storage medium for controlling an associated intersection, which realize coordinated optimization control of upstream and downstream intersections of the associated intersection and effectively avoid the occurrence of traffic overflow.
In a first aspect, an embodiment of the present invention provides an associated intersection control method, including:
acquiring a first threshold detection result of a threshold detector, wherein the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection;
determining a corresponding control strategy according to the first threshold detection result;
and performing coordination control on the target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy.
In a second aspect, an embodiment of the present invention further provides an associated intersection control device, including:
the system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring a first threshold detection result of a threshold detector, and the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection;
the determining module is used for determining a corresponding control strategy according to the first threshold detection result;
and the coordination control module is used for carrying out coordination control on the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy.
In a third aspect, an embodiment of the present invention further provides an associated intersection control system, where the associated intersection control system includes:
one or more processors;
a memory for storing one or more programs;
the flow detector is arranged at an entrance lane of the target downstream intersection and used for queuing monitoring analysis of the target downstream intersection;
a threshold detector provided at an exit lane of the first upstream intersection, for detecting whether a section between the target downstream intersection and the first upstream intersection is occupied;
when the one or more programs are executed by the one or more processors, the one or more processors implement the associated intersection control method according to the first aspect.
In a fourth aspect, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements an associated intersection control method as described in any one of the above.
According to the method, a first threshold detection result of a threshold detector is obtained, and the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection; determining a corresponding control strategy according to a first threshold detection result; and performing coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy. According to the embodiment of the invention, the first threshold detection result is determined through the threshold detector, the corresponding control strategy is determined according to the first threshold detection result, and the coordination control is carried out on the associated intersection of the target downstream intersection according to the control strategy, so that the coordination optimization control on the upstream intersection and the downstream intersection of the associated intersection is realized, and the traffic overflow phenomenon is effectively avoided.
Drawings
Fig. 1 is a flowchart of an associated intersection control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing the layout of a threshold detector according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method for controlling an associated intersection according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for controlling an associated intersection according to an embodiment of the present invention;
FIG. 5 is a flowchart of another method for controlling an associated intersection according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a display of a congestion zone boundary control provided by an embodiment of the present invention;
FIG. 7 is a flowchart of another method for controlling an associated intersection according to an embodiment of the present invention;
fig. 8 is a block diagram of an associated intersection control device according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware structure of an associated intersection control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of an associated intersection control method according to an embodiment of the present invention, where the present embodiment is applicable to a situation of overflow prevention coordination control for an associated intersection, and the method may be executed by an associated intersection control device, where the method may be implemented by hardware and/or software, and may be generally integrated in an associated intersection control system.
As shown in fig. 1, the method specifically includes the following steps:
s110, a first threshold detection result of the threshold detector is obtained.
The threshold detector is located at a first upstream intersection exit lane corresponding to the target downstream intersection. In the embodiment, in order to perform overflow prevention control on the associated intersection, a queue monitoring analysis needs to be performed on a flow detector arranged on an entrance lane of a target downstream intersection, a threshold detector is arranged on an exit lane of a first upstream intersection, and then a control strategy is selected according to whether the threshold detector is occupied or not. Wherein the first threshold detection result is used to characterize whether the threshold detector is occupied or not. In the event that the first threshold detection result indicates that the threshold detector is occupied, it indicates that a congestion phenomenon may or may not occur on the road segment between the target downstream intersection and the first upstream intersection. FIG. 2 is a schematic diagram of a display of the layout positions of the threshold detectors according to an embodiment of the present invention. As shown in fig. 2, intersection 1 is the first upstream intersection, intersection 2 is the target downstream intersection, threshold detector 210 is disposed at the exit lane of intersection 1, and flow detector 220 is disposed at the entrance lane of intersection 2. In the case where the first threshold detection result of the threshold detector 210 is occupied, it indicates that a congestion phenomenon is about to occur or has occurred in the section of road between the intersection 2 and the intersection 1. The flow detector 220 is used for monitoring and analyzing the queuing condition at the intersection 2. In the actual operation process, one target downstream intersection can correspond to a plurality of upstream intersections.
And S120, determining a corresponding control strategy according to the first threshold detection result.
The control strategies can be divided into three types, namely a reference model self-adaptive control strategy, an upstream green light passing time adjusting strategy or an anti-overflow control strategy, and an anti-overflow control strategy. In an embodiment, each first threshold detection result corresponds to a control strategy. Under the condition that the first threshold detection result is unoccupied, the control strategy can be a reference model self-adaptive control strategy, and an upstream green light passing time strategy or an overflow prevention control strategy is adjusted; in the case where the first threshold detection result is occupied, the control strategy may be an anti-overflow control strategy.
In case the first threshold detection result is unoccupied, the detection result of the threshold detector during the first upstream green time is detected in order to determine a more specific control strategy. Specifically, when the first threshold detection result is unoccupied, determining a corresponding control strategy according to the first threshold detection result includes: S1201-S1202:
s1201, determining a second threshold detection result of the threshold detector in the first upstream green light time.
The first upstream green time refers to the green time corresponding to the intersection 1. The second threshold detection result refers to a result of the threshold detector being imported by the vehicle during the first upstream green time, wherein the second threshold detection result includes occupied and unoccupied. It will be appreciated that during the first upstream green time, whether an incoming vehicle in the section between intersection 2 and intersection 1 would cause the threshold detector to be occupied.
And S1202, determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result.
In an embodiment, when both the first threshold detection result and the second threshold detection result are unoccupied, the control strategy may be a reference model adaptive control strategy; and when the first threshold detection result is unoccupied and the second threshold detection result is occupied, the control strategy is an upstream green light passing time regulation strategy or an overflow prevention control strategy.
Exemplarily, the first threshold detection result is recorded as α. In an embodiment, the selection of the control strategy is based on threshold detector occupancy and adjacent intersection traffic status. For example, when the threshold detector is not occupied, the first threshold detection result α corresponding to the threshold detector is 0; in the case where the threshold detector is occupied, the first threshold detection result α corresponding to the threshold detector is 1. When the alpha is 0, the traffic state of the adjacent intersection is judged according to the periodic congestion tendency, namely a second threshold detection result of the threshold detector is determined. In the case where the second threshold detection result is unoccupied, i.e. at N + QI-QO＜NmUnder the condition of (1), judging that no congestion trend exists in the period, and executing a reference model self-adaptive control strategy; in the case when the second threshold detection result is occupied, i.e. at N + QI-QO≥NmIf the traffic congestion tendency is determined in the period, the strategy for adjusting the upstream green light passing time or the overflow prevention control strategy is executed. The strategy for adjusting the upstream green light passing time can reduce the upstream green light passing time so as to reduce the number of vehicles entering the road sectionThe effect of (1). Wherein N is the original number of vehicles in the road section of the associated intersection, QINumber of vehicles driving into the road section of the associated crossing, QONumber of vehicles leaving the associated road section, NmIs the maximum associated link capacity.
And S130, performing coordination control on the target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy.
In the embodiment, the associated intersection means that the traffic conditions between the target downstream intersection and the corresponding upstream intersection are associated. As shown in fig. 2, the target downstream intersection and the first upstream intersection are associated, that is, in the case of congestion at the first upstream intersection, the traffic condition at the target downstream intersection is affected. In an embodiment, in the case that the first threshold detection result is unoccupied, the reference model adaptive control strategy may be executed by determining whether the merging vehicle causes the threshold detector to be occupied within the first upstream green time, and if the merging vehicle is unoccupied, that is, the second threshold detection result is unoccupied; if the upstream green light passing time strategy or the overflow prevention control strategy is adjusted, namely the second threshold detection result is occupied, the upstream green light passing time strategy or the overflow prevention control strategy is executed. And in the case that the first threshold detection result is occupied, directly executing an anti-overflow control strategy to perform coordinated control on the target downstream intersection and at least one upstream intersection.
According to the technical scheme of the embodiment, the first threshold detection result determined by the threshold detector is obtained, the corresponding control strategy is determined according to the first threshold detection result, and the associated intersection of the target downstream intersection is coordinately controlled according to the control strategy, so that the coordinative optimization control of the upstream intersection and the downstream intersection of the associated intersection is realized, and the traffic overflow phenomenon is effectively avoided.
Fig. 3 is a flowchart of another method for controlling an associated intersection according to an embodiment of the present invention. On the basis of the above embodiments, the present embodiment further specifically explains the cooperative control and manufacturing of the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy. The embodiment is suitable for the case that both the first threshold detection result and the second threshold detection result are unoccupied, and the control strategy is a reference model adaptive control strategy. As shown in fig. 3, the method specifically includes:
s310, a first threshold detection result of the threshold detector is obtained.
The threshold detector is located at a first upstream intersection exit lane corresponding to the target downstream intersection.
And S320, determining a second threshold detection result of the threshold detector in the first upstream green light time.
S330, determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result.
S340, determining a comparison result between the effective green light time of the calculation period and the effective green light time of the execution period of the target downstream intersection.
In the embodiment, the calculation period of the downstream intersection of the target is compared with the execution period, and when the calculation period is greater than the execution period, the control effect of the calculation period is judged to be better than that of the execution period; in the case where the calculation cycle is smaller than the execution cycle, it is determined that the calculation cycle control effect is inferior to the execution cycle. Illustratively, if
Judging that the control effect of the calculation period is better than that of the execution period; if it is
And judging that the control effect of the calculation period is inferior to the execution period. Wherein,
to calculate the effective green time of a cycle,
the green time is asserted for the execution cycle.
It should be noted that before determining the comparison result between the calculation cycle and the execution cycle of the target downstream intersection, traffic information acquisition within a cycle is also required, including intersection traffic distribution, headway, and the likeAnd obtaining the optimal periodic timing by parallel computing according to a Webster formula. Illustratively, the calculation formula of the optimal period timing is:
wherein, C0For the optimal cycle length, L is the total loss time and Y is the intersection flow ratio. Wherein, the green time calculation formula includes: ge＝C0-L，
Gi＝gei-A + l, wherein GeEffective green time, geiEffective green time for each phase, yiFor each phase flow ratio, i represents each phase, a is the red light time, and l is the loss time of the phase signal. Wherein the total lost time comprises: the sum of the vehicle start time, the yellow light time, and the red light time. The phase valid green time refers to valid green time in each direction corresponding to an intersection. For example, an intersection a has four directions, i.e., east, south, west, and north, respectively, and the valid green time of each phase is the valid green time corresponding to the east, south, west, and north directions of the intersection a, respectively.
And S350, determining the change range of the area coordination green signal ratio according to the maximum value and the minimum value of the effective green light time of the plurality of execution periods.
In the embodiment, trend comparison is carried out on a plurality of execution cycles of the downstream intersection of the target, the maximum value and the minimum value of effective green time of the execution cycles are determined, and the region coordination green ratio variation range is determined according to the maximum value and the minimum value. The area coordination green signal ratio refers to the proportion of the duration of a green light signal between the target downstream intersection and the first upstream intersection in one execution cycle. Wherein the maximum value of the multi-cycle effective green time
And minimum value
According to
And
and determining the change range of the area coordination split green signal ratio, and performing a signal control adjustment strategy.
And S360, adjusting signal control strategies corresponding to a target downstream intersection and at least one upstream intersection of the associated intersections according to the change range of the regional coordination split green-to-letter ratio.
In the embodiment, after the change range of the regional coordination split is determined, network phase difference calculation adjustment is carried out by using a numerical solution method, and a signal control strategy between the target downstream intersection and the first upstream intersection is updated. The signal control strategy refers to a signal control mode of an area between a target downstream intersection and a first upstream intersection. And then, according to the updated signal control strategy, continuously monitoring and analyzing the queuing condition through a flow detector. For the explanation of the logarithm solution method, reference may be made to the prior art, and details are not repeated here.
Fig. 4 is a flowchart of another related intersection control method according to an embodiment of the present invention. On the basis of the above embodiments, the present embodiment further specifically explains the cooperative control and manufacturing of the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy. The embodiment is suitable for the case that the first threshold detection result is unoccupied and the second threshold detection result is occupied, and the control strategy is an upstream green light passing time regulation strategy or an overflow prevention control strategy. As shown in fig. 4, the method specifically includes:
s410, acquiring a first threshold detection result of the threshold detector.
The threshold detector is located at a first upstream intersection exit lane corresponding to the target downstream intersection.
And S420, determining a second threshold detection result of the threshold detector in the first upstream green light time.
And S430, determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result.
And S440, determining the residual capacity of the upstream and downstream road sections between the target downstream intersection and the first upstream intersection according to the flow of the upstream and downstream intersections, the road section traffic capacity and the queuing estimation condition.
The residual capacity of the upstream and downstream road sections is used for judging whether an adjustment allowance exists in the first upstream green light time. In an embodiment, the remaining capacity of the upstream and downstream road segments between the target downstream intersection and the first upstream intersection is determined based on upstream and downstream intersection traffic, road segment traffic capacity, and queue estimation. The statistics may be performed according to a calculation formula of the remaining capacity of the upstream and downstream links. Illustratively, the upstream and downstream road segment remaining capacity NThe residue is left＝QI-QO+N-LRow board×htWherein N isThe residue is leftFor the remaining capacity, Q, of the upstream and downstream road sectionsINumber of vehicles driving into the road section of the associated crossing, QOFor the number of vehicles leaving the associated road section, LRow boardNumber of vehicles queued for road segment, htThe headway is the headway.
And S450, under the condition that the residual capacity of the upstream and downstream road sections is greater than a first preset value, adjusting the upstream green light passing time.
Wherein the first preset value may be set to 0. In the examples, when NThe residue is leftIf the green light passing time of the first upstream intersection has an adjustment margin when the green light passing time is more than 0, reducing the upstream green light time t according to the adjustment margin under the condition of not changing the periodgAnd adjusting the split ratio, and further updating the regional signal control strategy.
And S460, under the condition that the residual capacity of the upstream and downstream road sections is smaller than the first preset value, performing coordination control on the target downstream intersection and at least one upstream intersection of the associated intersections according to the anti-overflow control strategy.
In the examples, NThe residue is leftIf the green light passing time of the upstream intersection is not more than 0, no adjustment allowance is left, and the three-overflow prevention control mode is entered according to the requirement change period.
According to the technical scheme of the embodiment, the corresponding control strategy is determined according to the common result of the first threshold detection result and the second threshold detection result, and then the control strategy is further determined according to the judgment result of whether the adjustment allowance exists in the first upstream green light time, so that the effectiveness of coordinated control of the associated intersection is ensured.
Fig. 5 is a flowchart of another related intersection control method according to an embodiment of the present invention. On the basis of the above embodiments, the present embodiment further specifically explains the cooperative control and manufacturing of the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy. The embodiment is applicable to the case that the first threshold detection result is occupied, and the control strategy is an overflow prevention control strategy. As shown in fig. 5, the method specifically includes:
s510, a first threshold detection result of the threshold detector is obtained.
The threshold detector is located at a first upstream intersection exit lane corresponding to the target downstream intersection.
S520, determining a second threshold detection result of the threshold detector in the first upstream green light time.
S530, determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result.
And S540, adjusting the green light passing time of the upstream intersection according to a pre-configured anti-congestion spreading control sub-strategy.
Step S540 includes S5401-S5404:
and S5401, determining the green light passing time of the first upstream intersection.
In the embodiment, when the first threshold detection result is occupied, anti-congestion control is firstly performed, the execution cycle is changed according to the requirement, the green light passing time of the first upstream intersection is shortened, the number of vehicles entering the road section of the first upstream intersection is reduced, and therefore the congestion condition is relieved.
S5402, determining the corresponding inflow flow capacity accommodation condition of a first road section between a first upstream intersection and a second upstream intersection according to the flow capacity, road section traffic capacity and queuing estimation condition of the second upstream intersection of the target downstream intersection.
In the embodiment, whether the road section capacity can accommodate the influx flow without signal adjustment is judged in advance according to the upstream intersection flow, the road section traffic capacity and the queuing estimation condition of the target downstream intersection. Illustratively, the green time of the nth upstream intersection is calculated as follows:
wherein, gi-nFor the nth crossing of the upstream, the green time, LRows i-nThe number of vehicles queued for the nth intersection upstream,
for the nth intersection of the upstreami-nIs the saturation flow ratio of the nth crossing at the upstream Ci-nFor the nth crossing cycle of the upstream, SLoss of i-nThe green light loss time of the nth intersection at the upstream is obtained.
And S5403, determining the number of upstream intersections at which the congestion spreads according to the influx flow capacity, until the congestion boundary is determined.
In the embodiment, if
If the adjustment scheme of the nth intersection at the upstream cannot accommodate the unadjusted influx flow, returning to step1 and verifying the shortened green light passing time of the upper intersection; if it is
It means that the nth green time adjustment upstream above can accommodate unadjusted ingress traffic, indicating that a congestion spreading junction boundary has been found and that a boundary signal controls the junction.
Wherein,
the minimum green time for the nth intersection upstream,
the maximum green time of the nth intersection at the upstream is obtained.
Fig. 6 is a schematic illustration showing a congestion area boundary control according to an embodiment of the present invention. As shown in fig. 6, the intersection i corresponds to three upstream intersections, namely an intersection i-1, an intersection i-2 and an intersection i-3, and the boundary of the congestion area is determined according to the congestion spreading condition. It should be noted that the technical solution of the present embodiment adopts a road segment as shown in fig. 6 to describe the related intersection control method.
And S5404, adjusting the green light passing time of each upstream intersection.
In an embodiment, in the case that the adjustment scheme of the nth intersection at the upstream cannot accommodate the unadjusted influx flow, the number of vehicles entering the road section at the corresponding upstream intersection can be reduced by adjusting the green light passing time of the corresponding upstream intersection, so that the congestion condition is relieved. It can be understood that the green light passing time corresponding to the intersection i-1, the intersection i-2 or the intersection i-3 is adjusted in sequence to reduce the number of vehicles entering the road section corresponding to the upstream intersection.
And S550, determining a congestion boundary according to the congestion spreading prevention control sub-strategy.
In the embodiment, the congestion is determined to spread to the i-n th upstream intersection, the congestion boundary is defined as the area defined by the intersections i to (i-n), and the intersection i- (n +1) is the boundary signal control intersection.
And S560, executing the congestion boundary control sub-strategy according to the congestion boundary.
In an embodiment, a congestion boundary control sub-strategy is implemented. The anti-overflow control strategy, the anti-congestion spreading control sub-strategy and the congestion boundary control sub-strategy are processed in parallel, and traffic overflow is controlled from the inside and the outside of the congestion respectively.
And S570, determining the optimal timing of the congestion area boundary signal control intersection according to a pre-configured congestion coordination control sub-strategy, so as to perform coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections.
The method for determining the optimal timing of the congestion area boundary signal control intersection according to the pre-configured congestion cooperative control strategy comprises the following steps:
s1, constructing a functional relation between the queuing condition of the upstream road section of the congestion area boundary signal control intersection and the time length of the control signal, and determining an anti-overflow model of the upstream road section.
In the embodiment, a frequent function relation between the upstream road section queue of the congestion area boundary signal control intersection and the control signal is established, and an overflow prevention principle of the upstream road section is established. The method comprises the following steps of selecting a downstream intersection of an upstream intersection to execute reference model self-adaptive control, controlling an upstream road section of the intersection by a congestion area boundary signal to carry out vehicle queuing detection and estimation, and constructing a relation between the congestion boundary control intersection and an upstream queuing length thereof based on a traffic wave theory: l ═ f (g).
S2, building a functional relation between the number of vehicles at a downstream road section of the congestion area boundary signal control intersection and the time length of the control signal, and determining a congestion detection model of the downstream road section.
In the embodiment, a functional relation between the number of vehicles on the downstream road section of the congestion area boundary signal control intersection and the control signal is established, and a congestion detection principle of the downstream road section is established. The method comprises the following steps of carrying out congestion detection on a downstream road section of a congestion area boundary signal control intersection, detecting the vehicle holding capacity of the road section, and constructing the relation between the green light time of an upstream intersection and the vehicle holding capacity of the road section based on a Webster formula: n ═ f (g).
S3, building a functional relation between the number of vehicles in the congestion area and the duration of the control signal, and determining a congestion area vehicle number balance model.
In the embodiment, the relation between the number of vehicles in the congestion area and a signal control function is constructed, and the vehicle number balance in the congestion area is established. The method is characterized in that traffic detection statistics is carried out on congestion boundaries facing vehicles in the congestion areas, and a boundary control method based on a macroscopic basic diagram establishes a relation between green light time of a boundary intersection and the number of vehicles in the areas: n ═ h (g).
And S4, determining the optimal timing of the congestion area boundary signal control intersection according to the pre-configured proportion and according to the upstream road anti-overflow model, the downstream road congestion detection model and the congestion area vehicle number balancing model.
In the embodiment, the comprehensive congestion area boundary signal controls factors of upstream and downstream of the intersection and the congestion area, and the comprehensive objective optimization function is solved. Constructing an optimized objective function of the same three principles of the green light duration of the boundary intersection: j ═ α f (g) + β f (g) + γ h (g). Wherein, alpha, beta and gamma are corresponding weights. Then, the maximum value of the objective function J is solved, and the maximum values of f (g), F (g), h (G) are obtained. And according to the optimization objective function, solving to obtain the optimal timing of the congestion area boundary signal control intersection, and performing queuing detection on the upstream of the intersection so as to perform closed-loop control.
Fig. 7 is a flowchart of another related intersection control method according to an embodiment of the present invention. As shown in fig. 7, the method includes the steps of:
and S610, queue monitoring and analyzing.
In an embodiment, a flow detector is used for queue monitoring analysis of a target downstream intersection. If the detection threshold (i.e. the first threshold detection result) is not reached, step S620 is executed; when the detection threshold (i.e., the first threshold detection result) is reached, step S6160 is performed.
And S620, analyzing the traffic state of the adjacent intersection.
In the embodiment, the flow state of the adjacent intersection is analyzed according to three parameters, namely the upstream merging flow, the number of remaining vehicles in the road section and the number of vehicles leaving the downstream intersection, so as to determine whether a congestion trend exists in the period (i.e. whether the second threshold detection result is occupied), if yes, the step S630 is executed; if not, step S6120 is executed.
And S630, executing the existing signal control scheme.
And S640, collecting traffic information in a period.
And S650, parallel computing to obtain the optimal cycle timing.
And S660, determining a comparison result between the calculation cycle and the execution cycle.
And S670, comparing the trend of multiple cycles.
And S680, determining the change range of the area coordination split ratio.
In the embodiment, the trend comparison is carried out on a plurality of execution cycles, and the change range of the regional coordination split is determined.
And S690, controlling and adjusting the strategy by a signal.
S6100, calculating and adjusting the network phase difference.
S6110, the area signal controls the new policy, and step S610 or S630 is continuously executed.
S6120, the green light passing time of the uplink intersection is shortened.
S6130, judging the crossing direction state of the upstream intersection.
In the embodiment, whether the road section capacity can accommodate the number of vehicles entering within the time length of adjusting the green light is judged in advance according to the upstream and downstream intersection flow, the road section traffic capacity and the queuing track condition in the crossing direction, and if yes, the step S6140 is executed; if not, step S6150 is executed.
S6140, adjusting the split ratio according to the adjustment margin without changing the period.
And S6150, changing the period according to the requirement.
S6160, entering an overflow prevention control strategy.
And S6170, executing a control strategy for preventing the congestion spreading.
S6180, the green light passing time of the upstream intersection is shortened.
S6190, judging whether the signal of the upper upstream intersection needs to be adjusted, if so, executing the step S6180; if not, go to step S6200.
S6200, keeping the original signal control scheme of the upstream.
And S6210, determining the intersection at the edge of the congestion area.
And S6220, a congestion boundary control strategy.
S6230, and preventing overflow in the upstream road section.
In an embodiment, the upstream road segment queuing and control signal duration function relationship is constructed to establish the upstream road segment anti-overflow principle.
S6240, a downstream road section congestion detection principle.
In the embodiment, a functional relation between the number of vehicles on the downstream road section and the duration of the control signal is constructed to establish a congestion detection principle of the downstream road section.
S6250, balancing the number of vehicles in the congestion area.
In an embodiment, a functional relationship between the number of vehicles in the congestion area and the duration of the control signal is constructed to establish the vehicle number balance in the congestion area.
S6260, solving the comprehensive objective optimization function.
S6270, obtaining the optimal time of the congestion boundary.
Fig. 8 is a block diagram of an associated intersection control device according to an embodiment of the present invention, which is suitable for the situation of anti-overflow coordinated control for an associated intersection, and the device may be implemented by hardware/software, and may be generally integrated in an associated intersection control system. As shown in fig. 8, the apparatus includes: an acquisition module 710, a determination module 720, and a coordination control module 730.
The system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring a first threshold detection result of a threshold detector, and the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection;
the determining module is used for determining a corresponding control strategy according to a first threshold detection result;
and the coordination control module is used for carrying out coordination control on the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy.
According to the technical scheme of the embodiment, the first threshold detection result determined by the threshold detector is obtained, the corresponding control strategy is determined according to the first threshold detection result, and the associated intersection of the target downstream intersection is coordinately controlled according to the control strategy, so that the coordinative optimization control of the upstream intersection and the downstream intersection of the associated intersection is realized, and the traffic overflow phenomenon is effectively avoided.
On the basis of the above embodiment, in the case that the first threshold detection result is unoccupied, the determining module includes:
a first determination unit for determining a second threshold detection result of the threshold detector in the first upstream green time;
and the second determining unit is used for determining the corresponding control strategy according to the first threshold detection result and the second threshold detection result.
On the basis of the embodiment, under the condition that the first threshold detection result and the second threshold detection result are both unoccupied, the control strategy is a reference model self-adaptive control strategy;
accordingly, a coordinated control module includes:
the third determining unit is used for determining a comparison result between the effective green light time of the calculation period and the effective green light time of the execution period of the target downstream intersection;
a fourth determination unit configured to determine a variation range of the area coordination split ratio according to a maximum value and a minimum value of the plurality of execution cycle valid green light times;
and the first adjusting unit is used for adjusting the signal control strategies corresponding to the target downstream intersection and at least one upstream intersection of the associated intersections according to the change range of the regional coordination split green-to-green ratio.
On the basis of the above embodiment, in the case that the first threshold detection result is unoccupied and the second threshold detection result is occupied, the control strategy is to adjust the upstream green light passing time strategy or the anti-overflow control strategy;
accordingly, a coordinated control module includes:
the fifth determining unit is used for determining the residual capacity of the upstream road section and the downstream road section between the target downstream intersection and the first upstream intersection according to the flow of the upstream road section and the downstream road section, the road section traffic capacity and the queuing estimation condition;
the second adjusting unit is used for adjusting the upstream green light passing time under the condition that the residual capacity of the upstream and downstream road sections is greater than the first preset value;
and the control unit is used for carrying out coordination control on the target downstream intersection and at least one upstream intersection of the associated intersections according to the anti-overflow control strategy under the condition that the residual capacity of the upstream and downstream road sections is less than a first preset value.
On the basis of the above embodiment, in the case where the first threshold detection result is occupied, the control strategy is an overflow prevention control strategy;
accordingly, a coordinated control module includes:
the third adjusting unit is used for adjusting the green light passing time of the upstream intersection according to a pre-configured anti-congestion spreading control sub-strategy;
a sixth determining unit, configured to determine a congestion boundary according to the congestion propagation prevention control sub-strategy;
an execution unit for executing the congestion boundary control sub-strategy according to the congestion boundary;
and the seventh determining unit is used for determining the optimal time of the congestion area boundary signal control intersection according to a pre-configured congestion cooperative control sub-strategy so as to perform cooperative control on the target downstream intersection and at least one upstream intersection of the associated intersections.
On the basis of the above embodiment, the third adjusting unit includes:
the first determining subunit is used for determining the green light passing time of the first upstream intersection;
the second determining subunit is used for determining the corresponding influx flow capacity accommodating condition of the first road section between the first upstream intersection and the second upstream intersection according to the flow capacity of the second upstream intersection, the road section traffic capacity and the queuing estimation condition of the target downstream intersection;
the third determining subunit is used for determining the number of upstream intersections where the congestion spreads according to the influx flow capacity condition until the congestion boundary is determined;
and the adjusting subunit is used for adjusting the green light passing time of each upstream intersection.
On the basis of the above embodiment, the seventh determining unit includes:
the first construction and determination subunit is used for constructing a functional relationship between the queuing condition of an upstream road section of a congestion area boundary signal control intersection and the time length of a control signal, and determining an anti-overflow model of the upstream road section;
the second construction determining subunit is used for constructing a functional relation between the number of vehicles at a downstream road section of the congestion area boundary signal control intersection and the time length of the control signal, and determining a congestion detection model of the downstream road section;
the third construction and determination subunit is used for constructing a functional relation between the number of vehicles in the congestion area and the duration of the control signal and determining a vehicle number balance model in the congestion area;
and the fourth determining subunit is used for determining optimal timing of controlling the intersection by the congestion area boundary signal according to the preconfigured specific gravity and the overflow prevention model of the upstream road section, the congestion detection model of the downstream road section and the congestion area vehicle number balance model.
The related intersection control device can execute the related intersection control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 9 is a schematic diagram of a hardware structure of an associated intersection control system according to an embodiment of the present invention. As shown in fig. 9, the associated intersection control system provided in the embodiment of the present invention includes: processor 810 and memory 820, flow detector 830, and threshold detector 840. The processor 810 in the associated intersection control system may be one or more, one processor 810 is taken as an example in fig. 9, the processor 810, the memory 820, the flow detector 830 and the threshold detector 840 in the associated intersection control system may be connected by a bus or in other ways, and the processor 810, the memory 820, the flow detector 830 and the threshold detector 840 are taken as an example in fig. 9.
The memory 820 in the related intersection control system is used as a computer readable storage medium for storing one or more programs, which may be software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the related intersection control method provided by the embodiment of the present invention (for example, the modules in the related intersection control apparatus shown in fig. 8 include the obtaining module 710, the determining module 720, and the coordination control module 730). The processor 810 executes various functional applications and data processing of the associated intersection control system by executing software programs, instructions and modules stored in the memory 820, namely, the associated intersection control method in the above method embodiment is realized.
The memory 820 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 820 may further include memory located remotely from the processor 810, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The flow detector 830 is arranged at an entrance lane of the target downstream intersection and is used for queuing monitoring analysis of the target downstream intersection;
a threshold detector 840, provided at an exit lane of the first upstream intersection, for detecting whether a road segment between the target downstream intersection and the first upstream intersection is occupied.
And, when the one or more programs included in the above-mentioned associated intersection control system are executed by the one or more processors 810, the programs perform the following operations:
acquiring a first threshold detection result of a threshold detector, wherein the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection; determining a corresponding control strategy according to a first threshold detection result; and performing coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy.
The associated intersection control system can execute the associated intersection control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling an associated intersection provided in the embodiment of the present invention, and the method includes: acquiring a first threshold detection result of a threshold detector, wherein the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection; determining a corresponding control strategy according to a first threshold detection result; and performing coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (4)
1. An associated intersection control method, comprising:
acquiring a first threshold detection result of a threshold detector, wherein the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection;
determining a corresponding control strategy according to the first threshold detection result;
performing coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to the control strategy;
wherein, the determining the corresponding control strategy according to the first threshold detection result comprises:
in the case where the first threshold detection result is unoccupied,
determining a second threshold detection result of the threshold detector for a first upstream green time;
determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result;
wherein the determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result includes:
under the condition that the first threshold detection result and the second threshold detection result are both unoccupied, the control strategy is a reference model self-adaptive control strategy;
correspondingly, the performing coordination control on the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy comprises:
determining a comparison result between the effective green light time of the calculation period and the effective green light time of the execution period of the target downstream intersection;
determining the variation range of the regional coordination green signal ratio according to the maximum value and the minimum value of the effective green light time of a plurality of execution periods;
adjusting signal control strategies corresponding to a target downstream intersection and at least one upstream intersection of the associated intersections according to the variation range of the regional coordination split green-to-letter ratio;
when the first threshold detection result is unoccupied and the second threshold detection result is occupied, the control strategy is an upstream green light passing time regulation strategy or an overflow prevention control strategy;
correspondingly, the performing coordination control on the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy comprises:
determining the residual capacity of the upstream and downstream road sections between the target downstream intersection and the first upstream intersection according to the flow of the upstream and downstream intersections, the road section traffic capacity and the queuing estimation condition;
under the condition that the residual capacity of the upstream and downstream road sections is greater than a first preset value, the upstream green light passing time is adjusted;
wherein the adjusting the upstream green light transit time comprises:
reducing the first upstream green light transit time;
under the condition that the residual capacity of the upstream and downstream road sections is smaller than a first preset value, performing coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to an overflow prevention control strategy;
wherein, the coordination control of the target downstream intersection and at least one upstream intersection of the associated intersections according to the overflow prevention control strategy comprises:
changing the period, and entering an anti-overflow control strategy;
when the first threshold detection result is occupied, the control strategy is an overflow prevention control strategy;
correspondingly, the performing coordination control on the target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy comprises:
adjusting the green light passing time of the upstream intersection according to a pre-configured anti-congestion spreading control sub-strategy;
determining a congestion boundary according to the congestion spread prevention control sub-strategy;
executing a congestion boundary control sub-strategy according to the congestion boundary;
determining the optimal timing of a congestion area boundary signal control intersection according to a pre-configured congestion coordination control sub-strategy so as to perform coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections;
the method for adjusting the green light passing time of the upstream intersection according to the pre-configured anti-congestion spreading control sub-strategy comprises the following steps:
determining the green light passing time of the first upstream intersection;
determining the corresponding incoming flow capacity accommodating condition of a first road section between the first upstream intersection and a second upstream intersection according to the flow capacity, the road section traffic capacity and the queuing estimation condition of the second upstream intersection of the target downstream intersection;
determining the number of upstream intersections at which the congestion spreads according to the influx flow accommodation condition until a congestion boundary is determined;
the green light passing time of each upstream intersection is reduced;
the method for determining the optimal timing of the congestion area boundary signal control intersection according to the pre-configured congestion cooperative control sub-strategy comprises the following steps:
constructing a functional relation between the queuing condition of an upstream road section of a congestion area boundary signal control intersection and the time length of a control signal, and determining an anti-overflow model of the upstream road section;
constructing a functional relation between the number of vehicles at a downstream road section of a congestion area boundary signal control intersection and the time length of a control signal, and determining a congestion detection model of the downstream road section;
constructing a functional relation between the number of vehicles in the congestion area and the duration of the control signal, and determining a vehicle number balance model in the congestion area;
and determining optimal timing of a congestion area boundary signal control intersection according to a preset proportion and according to the upstream section anti-overflow model, the downstream section congestion detection model and the congestion area vehicle number balancing model.
2. An associated intersection control device, comprising:
the system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring a first threshold detection result of a threshold detector, and the threshold detector is positioned at a first upstream intersection exit lane corresponding to a target downstream intersection;
the determining module is used for determining a corresponding control strategy according to the first threshold detection result;
the coordination control module is used for carrying out coordination control on a target downstream intersection and at least one upstream intersection of the associated intersection according to the control strategy;
wherein, the determining the corresponding control strategy according to the first threshold detection result comprises:
in the case that the first threshold detection result is unoccupied, the determining module includes:
a first determination unit for determining a second threshold detection result of the threshold detector in the first upstream green time;
the second determining unit is used for determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result;
wherein the determining a corresponding control strategy according to the first threshold detection result and the second threshold detection result includes:
under the condition that the first threshold detection result and the second threshold detection result are both unoccupied, the control strategy is a reference model self-adaptive control strategy;
correspondingly, the coordination control module comprises:
the third determining unit is used for determining a comparison result between the effective green light time of the calculation period and the effective green light time of the execution period of the target downstream intersection;
a fourth determination unit configured to determine a variation range of the area coordination split ratio according to a maximum value and a minimum value of the plurality of execution cycle valid green light times;
the first adjusting unit is used for adjusting signal control strategies corresponding to a target downstream intersection and at least one upstream intersection of the associated intersections according to the change range of the regional coordination split;
when the first threshold detection result is unoccupied and the second threshold detection result is occupied, the control strategy is an upstream green light passing time regulation strategy or an overflow prevention control strategy;
correspondingly, the coordination control module comprises:
the fifth determining unit is used for determining the residual capacity of the upstream road section and the downstream road section between the target downstream intersection and the first upstream intersection according to the flow of the upstream road section and the downstream road section, the road section traffic capacity and the queuing estimation condition;
the second adjusting unit is used for adjusting the upstream green light passing time under the condition that the residual capacity of the upstream and downstream road sections is greater than the first preset value;
wherein the adjusting the upstream green light transit time comprises:
reducing the first upstream green light transit time;
the control unit is used for carrying out coordination control on a target downstream intersection and at least one upstream intersection of the associated intersections according to the anti-overflow control strategy under the condition that the residual capacity of the upstream and downstream road sections is smaller than a first preset value;
wherein, the coordination control of the target downstream intersection and at least one upstream intersection of the associated intersections according to the overflow prevention control strategy comprises:
changing the period, and entering an anti-overflow control strategy;
under the condition that the first threshold detection result is occupied, the control strategy is an anti-overflow control strategy;
correspondingly, the coordination control module comprises:
the third adjusting unit is used for adjusting the green light passing time of the upstream intersection according to a pre-configured anti-congestion spreading control sub-strategy;
a sixth determining unit, configured to determine a congestion boundary according to the congestion propagation prevention control sub-strategy;
an execution unit for executing the congestion boundary control sub-strategy according to the congestion boundary;
a seventh determining unit, configured to determine that when the congestion area boundary signal controls the intersection to be optimal according to a pre-configured congestion cooperative control sub-strategy, so as to perform cooperative control on a target downstream intersection and at least one upstream intersection of the associated intersection;
wherein the third adjusting unit includes:
the first determining subunit is used for determining the green light passing time of the first upstream intersection;
the second determining subunit is used for determining the corresponding influx flow capacity accommodating condition of the first road section between the first upstream intersection and the second upstream intersection according to the flow capacity of the second upstream intersection, the road section traffic capacity and the queuing estimation condition of the target downstream intersection;
the third determining subunit is used for determining the number of upstream intersections where the congestion spreads according to the influx flow capacity condition until the congestion boundary is determined;
the adjusting subunit is used for reducing the green light passing time of each upstream intersection;
the seventh determining unit includes:
the first construction and determination subunit is used for constructing a functional relationship between the queuing condition of an upstream road section of a congestion area boundary signal control intersection and the time length of a control signal, and determining an anti-overflow model of the upstream road section;
the second construction determining subunit is used for constructing a functional relation between the number of vehicles at a downstream road section of the congestion area boundary signal control intersection and the time length of the control signal, and determining a congestion detection model of the downstream road section;
the third construction and determination subunit is used for constructing a functional relation between the number of vehicles in the congestion area and the duration of the control signal and determining a vehicle number balance model in the congestion area;
and the fourth determining subunit is used for determining optimal timing of controlling the intersection by the congestion area boundary signal according to the preconfigured specific gravity and the overflow prevention model of the upstream road section, the congestion detection model of the downstream road section and the congestion area vehicle number balance model.
3. An associated intersection control system, characterized in that the associated intersection control system comprises:
one or more processors;
a memory for storing one or more programs;
the flow detector is arranged at an entrance lane of the target downstream intersection and used for queuing monitoring analysis of the target downstream intersection;
a threshold detector provided at an exit lane of the first upstream intersection, for detecting whether a section between the target downstream intersection and the first upstream intersection is occupied;
when executed by the one or more processors, cause the one or more processors to implement the associative intersection control method as recited in claim 1.
4. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements an associated intersection control method as claimed in claim 1.
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| CN111341107A (en) * | 2020-05-18 | 2020-06-26 | 成都信息工程大学 | Shared traffic control method based on cloud platform data |
| CN113470390B (en) * | 2021-07-09 | 2022-08-05 | 公安部交通管理科学研究所 | Multiphase dynamic coordination control method for short-link intersection edge node fusion |
| CN113781815B (en) * | 2021-08-31 | 2022-06-28 | 湖南湘旭交安光电高科技股份有限公司 | Intersection dynamic detour guidance control method and device under vehicle and road cooperative environment and storage medium |
| CN114170792A (en) * | 2021-11-01 | 2022-03-11 | 中汽创智科技有限公司 | Traffic dispersion method, device, system and storage medium |
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